JP2024011461A - Control system, control device, and communication method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a mechanism for easing design and development restrictions in a control system in which a plurality of control devices are network-connected.

SOLUTION: A relay unit determines at least one of whether data sizes match between data indicated by a first setting and data indicated by a second setting, and whether data sizes match between data indicated by a third setting and data indicated by a fourth setting. In a predetermined first state, if the data sizes do not match between the data indicated by the first setting and the data indicated by the second setting, and/or even if the data sizes do not match between the data indicated by the third setting and the data indicated by the fourth setting, the relay unit performs data transfer according to a replacement setting.

SELECTED DRAWING: Figure 1

COPYRIGHT: (C)2024,JPO&INPIT

Description

The present invention relates to a control system, a control device, and a communication method.

With the rapid development of information and communication technology in recent years, there is an increasing need for industrial equipment to process more data. More specifically, technological innovation using communication technology, typified by IoT (Internet of Things) and Industry 4.0, is progressing. As a result, the amount of data exchanged within the system is increasing.

As one solution to this increase in the amount of data processing, International Publication No. 2013/137023 (Patent Document 1) proposes a method for more appropriately updating data between devices in a configuration including multiple communication lines. Discloses a configuration that allows this.

When a network distributed control system is configured by connecting a plurality of controllers using a plurality of networks, a relay unit that is a gateway in charge of data transfer between networks is used. Data exchange between control devices is realized through such a gateway.

International Publication No. 2013/137023

When designing and developing a network distributed control system, there is a need to prevent changes in the design of one control device from affecting other control devices. The present invention provides a mechanism for easing restrictions on design and development in a control system in which a plurality of control devices are network-connected.

According to an example of the present invention, a control system is provided that includes a first control device and a second control device connected via a network. In the control system, the second control device includes a calculation unit that performs control calculations and a relay unit that has an interface for connecting to a network. The relay unit is configured to perform data exchange, including transmitting data managed by the computing unit over the network and updating data managed by the computing unit with data received over the network, according to the exchange settings. has been done. The exchange settings include a first setting that indicates data to be sent among data managed by the processing unit, a second setting indicating data to be sent via the network, and a second setting indicating data to be updated among data managed by the processing unit. and a fourth setting that indicates data received via the network. The relay unit determines whether the data sizes of the data indicated by the first setting and the data indicated by the second setting match, and the data indicated by the third setting and the data indicated by the fourth setting. In a predetermined first state, the data size between the data indicated by the first setting and the data indicated by the second setting is determined. Even if the sizes do not match and/or even if the data sizes do not match between the data indicated by the third setting and the data indicated by the fourth setting, data exchange according to the exchange setting is executed.

According to this configuration, during the process of designing and developing the first control device and the programs to be executed by the first control device, the structure of data transmitted and received by the first control device is uncertain. and/or in the process of designing and developing the second control device and the program to be executed by the second control device, and the structure of the data sent and received by the processing unit is uncertain. In some cases, it is possible to avoid a phenomenon in which the entire control system stops operating due to a change in the data configuration. Thereby, the design and development of the first control device and the second control device can be performed independently.

In the first state, the relay unit periodically updates the data indicated by the first setting and the data indicated by the third setting, and updates the data indicated by the second setting and the data indicated by the fourth setting. Periodic updates may be performed repeatedly. According to this configuration, data exchange between the first control device and the second control device and data exchange within the second control device can be continued even if the exchange settings do not completely match. , it is possible to avoid a situation where a change in either one of the first control device and the second control device affects the other.

The relay unit may continue updating data with the first control device and updating data with the arithmetic unit even if there is no exchange setting. According to this configuration, data updates between the first control device and the relay unit and data updates between the arithmetic unit and the relay unit can be continued without depending on the exchange settings.

If the data sizes do not match between the data indicated by the first setting and the data indicated by the second setting, and/or the data indicated by the third setting and the data indicated by the fourth setting It may further include a notification unit that provides a warning when the data sizes do not match. According to this configuration, the user can reliably recognize that the data sizes do not match.

The relay unit determines whether the data indicated by the first setting and the data indicated by the second setting match, and the data indicated by the third setting and the data indicated by the fourth setting match. The data exchange may be performed for the data that is currently being used. According to this configuration, even if the data sizes do not completely match, data can be exchanged to the extent possible.

The relay unit may generate dummy data based on exchange settings so that data of a predetermined data size is exchanged. According to this configuration, the data size to be exchanged can be fixed to a predetermined size, so that processing related to data exchange can be simplified and speeded up.

The control system may provide a user interface for creating exchange settings in response to user operations. According to this configuration, the user can easily create exchange settings via the user interface.

In a second state different from the first state, if the data size does not match between the data indicated by the first setting and the data indicated by the second setting, and/or the relay unit If the data size does not match between the data indicated by the setting and the data indicated by the fourth setting, data exchange according to the exchange setting may be stopped or invalidated. According to this configuration, exact data exchange can be achieved when the configuration of data transmitted and received by the first control device is determined and/or when the configuration of data transmitted and received by the arithmetic unit is determined. .

The first state and the second state may be determined depending on the mode set by the user. According to this configuration, the first state and the second state can be changed as appropriate depending on the situation.

According to another example of the present invention, a control device is provided that is connected to other control devices via a network. The control device includes a calculation unit that performs control calculations and a relay unit that has an interface for connecting to a network. The relay unit is configured to perform data exchange, including transmitting data managed by the computing unit over the network and updating data managed by the computing unit with data received over the network, according to the exchange settings. has been done. The exchange settings include a first setting that indicates data to be sent among data managed by the processing unit, a second setting indicating data to be sent via the network, and a second setting indicating data to be updated among data managed by the processing unit. and a fourth setting that indicates data received via the network. The relay unit determines whether the data sizes of the data indicated by the first setting and the data indicated by the second setting match, and the data indicated by the third setting and the data indicated by the fourth setting. In a predetermined first state, the data size between the data indicated by the first setting and the data indicated by the second setting is determined. Even if the sizes do not match and/or even if the data sizes do not match between the data indicated by the third setting and the data indicated by the fourth setting, data exchange according to the exchange setting is executed.

According to yet another example of the present invention, a communication method in a control system including a first control device and a second control device connected via a network is provided. The second control device includes a calculation unit that performs control calculations and a relay unit that has an interface for connecting to a network. The communication method is such that the relay unit executes data exchange, including sending data managed by the computing unit via the network and updating data managed by the computing unit with data received via the network, according to the exchange settings. including steps to The exchange settings include a first setting that indicates data to be sent among data managed by the processing unit, a second setting indicating data to be sent via the network, and a second setting indicating data to be updated among data managed by the processing unit. and a fourth setting that indicates data received via the network. The communication method depends on whether or not the data sizes match between the data indicated by the first setting and the data indicated by the second setting, and whether the data indicated by the third setting and the data indicated by the fourth setting match. a step of determining at least one of whether the data sizes match between the two; and determining whether the data sizes match between the data indicated by the first setting and the data indicated by the second setting in a predetermined first state. Even if the data sizes do not match, and/or the data sizes do not match between the data indicated by the third setting and the data indicated by the fourth setting, the relay unit transfers the data according to the exchange setting. and performing the exchange.

According to the present invention, it is possible to provide a mechanism for easing restrictions on design and development in a control system in which a plurality of control devices are network-connected.

FIG. 2 is a schematic diagram showing an example of application of the control system according to the present embodiment. FIG. 1 is a schematic diagram showing an example of the overall configuration of a control system according to the present embodiment. FIG. 2 is a block diagram showing an example of a hardware configuration of an arithmetic unit of the main control device according to the present embodiment. FIG. 2 is a block diagram showing an example of a hardware configuration of an arithmetic unit of a sub-control device according to the present embodiment. FIG. 3 is a block diagram showing an example of the hardware configuration of a relay unit of the sub-control device according to the present embodiment. An example of the data structure of a frame cyclically transmitted through the field network of the control system according to the present embodiment is shown. FIG. 3 is a diagram for explaining data transfer by the sub-control device of the control system according to the present embodiment. FIG. 3 is a diagram for explaining data transfer by a relay unit of the control system according to the present embodiment. FIG. 3 is a diagram illustrating an example in which data sizes set in relay units of the control system according to the present embodiment do not match. FIG. 6 is a diagram illustrating an example of processing when data sizes set in relay units of the control system according to the present embodiment do not match. FIG. 3 is a diagram for explaining an example of processing in a relay unit of the control system according to the present embodiment. FIG. 6 is a diagram for explaining an example of operation when data updating is stopped in the control system according to the present embodiment. 3 is a flowchart illustrating an example of a processing procedure for I/O data transmission by cyclic communication of a relay unit according to the present embodiment. FIG. 3 is a schematic diagram showing an example of a user interface for creating relay unit replacement settings in the control system according to the present embodiment.

Embodiments of the present invention will be described in detail with reference to the drawings. Note that the same or corresponding parts in the figures are designated by the same reference numerals, and the 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.

FIG. 1 is a schematic diagram showing an application example of a control system 1 according to the present embodiment. Referring to FIG. 1, a control system 1 includes a main control device 10 (first control device) and one or more sub-control devices 20 (first control device) connected via a network (see field network 4 in FIG. 2, etc.). 2 control devices).

In this specification, the terms "main controller" and "sub controller" are used for convenience of explanation, and they may have substantially the same hardware configuration or have substantially the same functions. It may be a configuration. The main control device and the sub-control device may be a type of computer such as a PLC (programmable logic controller).

The sub-control device 20 includes a calculation unit 200 that performs control calculations, and a relay unit 250 that has an interface (such as the field network interface 270 in FIG. 5) for connecting to a network.

Relay unit 250 is a gateway for mutually transferring data between sub-control device 20 (computation unit 200) and main control device 10. More specifically, it includes transmitting the process data 70 managed by the computing unit 200 via the network according to the exchange settings 268 and updating the process data managed by the computing unit 200 with data received via the network. Perform data transfer.

Relay unit 250 holds transmission data 50 and reception data 60 that are exchanged via the network, and also holds input data 90 and output data 80 that are exchanged with arithmetic unit 200 .

In this specification, data set as a data transfer target is referred to as an "entry." “Entry” includes information for specifying each data to be included in transmission data 50, reception data 60, output data 80, and input data 90.

The exchange settings 268 include settings for each data entry shown in FIG. More specifically, the exchange settings 268 include a first setting (an entry included in the output data 80) indicating data to be transmitted (output data 80) among the process data 70 managed by the calculation unit 200, and a network. A second setting (an entry included in the transmission data 50) indicating the data to be transmitted (transmission data 50) via the second setting (an entry included in the transmission data 50) and data to be updated (input data 90) among the process data 70 managed by the calculation unit 200. It includes a third setting (an entry included in the input data 90) and a fourth setting (an entry included in the received data 60) indicating data to be received via the network (received data 60).

Data transfer includes data update 42 (transmission of transmission data 50 and update of reception data 60) between main controller 10 and relay unit 250, and data update 44 (output updating data 80 and transmitting input data 90); and data exchange 46 in relay unit 250 (updating transmitted data 50 with output data 80 and updating input data 90 with received data 60).

The relay unit 250 determines whether the data sizes match between the entry included in the output data 80 (data indicated by the first setting) and the entry included in the transmission data 50 (data indicated by the second setting). , and whether the data sizes match between the entry included in the input data 90 (data indicated by the third setting) and the entry included in the received data 60 (data indicated by the fourth setting). Judge at least one of them.

As shown in FIG. 1, when the data size does not match between the entry included in the output data 80 (data indicated by the first setting) and the entry included in the transmission data 50 (data indicated by the second setting) , and/or the data sizes do not match between the entry included in the input data 90 (data indicated by the third setting) and the entry included in the received data 60 (data indicated by the fourth setting). data transfer according to exchange settings 268.

Data transfer includes data update 42 between main controller 10 and relay unit 250, and data update 44 between arithmetic unit 200 and relay unit 250. Data exchange 46 in relay unit 250 is performed to the extent that data exchange is possible.

Note that in a predetermined first state, data transfer may be executed even if the data sizes do not match, and in another second state, if the data sizes do not match, Data transfer may be stopped or disabled. That is, whether or not to stop or invalidate data transfer when the data sizes do not match may be changed depending on the mode or the like.

<B. Overall configuration example>
Next, an example of the overall configuration of the control system 1 according to the present embodiment will be described.

FIG. 2 is a schematic diagram showing an example of the overall configuration of the control system 1 according to the present embodiment. Referring to FIG. 2, control system 1 according to the present embodiment includes main control device 10 and one or more sub-control devices 20.

The main control device 10 and one or more sub-control devices 20 are connected via a field network 4. Field network 4 supports cyclic communication and message communication. Examples of the field network 4 include EtherCAT (registered trademark), EtherNet/IP (registered trademark), PROFINET (registered trademark), PROFIBUS (registered trademark), DeviceNet (registered trademark), FL-net, CompoNet (registered trademark), etc. may also be used.

Main controller 10 includes a calculation unit 100 that performs control calculations. The arithmetic unit 100 is capable of data communication via the field network 4. The main controller 10 may further include a power supply unit, an I/O unit, a special unit, and the like.

The sub-control device 20 includes a calculation unit 200 that executes control calculations and a relay unit 250 that has an interface for connecting to the field network 4. The sub-control device 20 may further include a power supply unit, an I/O unit, a special unit, and the like.

Arithmetic unit 200 and relay unit 250 are connected via internal bus 6 (see FIGS. 4 and 5). Note that if the sub-control device 20 includes an I/O unit and/or a special unit, the units are also connected via the internal bus 6.

The relay unit 250 transfers the data transmitted from the main control device 10 so that the calculation unit 200 can refer to it, and also transfers the data output by the calculation unit 200 so that the main control device 10 can refer to it.

The control system 1 may include a support device 300 for creating and changing programs and settings executed by the main control device 10 and/or the sub-control device 20. The support device 300 may be connected to the calculation unit 200 of the sub-control device 20 or the calculation unit 100 of the main control device 10.

<C. Hardware configuration example>
Next, an example of the hardware configuration of the main devices of the control system 1 according to the present embodiment will be described.

(c1: calculation unit 100)
FIG. 3 is a block diagram showing an example of the hardware configuration of the arithmetic unit 100 of the main control device 10 according to the present embodiment. Referring to FIG. 3, the arithmetic unit 100 includes a processor 102 such as a CPU (Central Processing Unit) or an MPU (Micro-Processing Unit), a chipset 104, a memory 106, a storage 108, and an upper network interface 110. , a USB (Universal Serial Bus) interface 112, a memory card interface 114, and a field network interface 120.

The processor 102 reads various programs stored in the storage 108, expands them to the memory 106, and executes them, thereby realizing necessary processing in the arithmetic unit 100. The chipset 104 controls data communication between the processor 102 and each component.

Storage 108 typically stores a system program 131 and a user program 132 that includes computer-readable codes necessary for control calculations.

By executing the program stored in the storage 108, the arithmetic unit 100, which is a computer, executes the processing described in this specification, and the functional configuration described in this specification in the arithmetic unit 100, which is a computer, is executed. Make it happen.

The upper network interface 110 controls data communication with other devices via the upper network. USB interface 112 controls data communication to and from supporting devices via a USB connection.

The memory card interface 114 is configured to allow a memory card 116 to be attached or removed, and is capable of writing data to the memory card 116 and reading various data (user programs, trace data, etc.) from the memory card 116. There is.

Field network interface 120 controls data communication with sub-control device 20 via field network 4.

(c2: calculation unit 200)
FIG. 4 is a block diagram showing an example of the hardware configuration of the arithmetic unit 200 of the sub-control device 20 according to the present embodiment. Referring to FIG. 4, the arithmetic unit 200 includes a processor 202 such as a CPU or an MPU, a chipset 204, a memory 206, a storage 208, an upper network interface 210, a USB interface 212, and a memory card interface 214. , an internal bus interface 220.

The processor 202 reads various programs stored in the storage 208, expands them to the memory 206, and executes them, thereby realizing necessary processing in the arithmetic unit 200. The chipset 204 controls data communication between the processor 202 and each component.

Storage 208 typically stores a system program 231 and a user program 232 that includes computer readable codes necessary for control calculations.

By executing the program stored in the storage 208, the arithmetic unit 200, which is a computer, executes the processing described in this specification, and the functional configuration described in this specification is performed in the arithmetic unit 200, which is a computer. Make it happen.

The upper network interface 210 controls data communication with other devices via the upper network. USB interface 212 controls data communication to and from supporting devices via a USB connection.

The memory card interface 214 is configured to allow a memory card 216 to be attached or removed, and is capable of writing data to the memory card 216 and reading various data (user programs, trace data, etc.) from the memory card 216. There is.

Internal bus interface 220 controls data communication with one or more units (including relay unit 250) via internal bus 6.

Internal bus 6, like field network 4, supports cyclic and message communications. As the internal bus 6, a communication method exclusive to the manufacturer may be adopted, for example, EtherCAT (registered trademark), EtherNet/IP (registered trademark), PROFINET (registered trademark), PROFIBUS (registered trademark), DeviceNet (registered trademark). Trademark), FL-net, CompoNet (registered trademark), etc. may also be used.

(c3: relay unit 250)
FIG. 5 is a block diagram showing an example of the hardware configuration of relay unit 250 of sub-control device 20 according to the present embodiment. Referring to FIG. 5, relay unit 250 includes a processing circuit 260, a field network interface 270, and an internal bus interface 280.

The processing circuit 260 realizes the processing and functions of the relay unit 250 as described below. More specifically, processing circuit 260 includes a processor 262, memory 264, and storage 266. The processor 262 reads the system program (firmware) stored in the storage 266, expands it to the memory 264, and executes it, thereby realizing necessary processing in the relay unit 250. In addition to the system program, the storage 266 stores exchange settings 268 for realizing data transfer.

Field network interface 270 controls data communication with main controller 10 via field network 4.

Internal bus interface 280 controls data communication with one or more units (including computing unit 200) via internal bus 6.

(c4: Other configurations)
FIGS. 3 to 5 show configuration examples in which necessary functions are provided by a processor executing a program, but some or all of these provided functions can be implemented using dedicated hardware circuits (e.g. , ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), etc.).

In this specification, a "processor" is not limited to a processor in a narrow sense that executes processing using a stored program method, but may include hard-wired circuits such as ASIC and FPGA. Therefore, the term "processor" can also be read as processing circuitry whose processing is predefined by computer readable code and/or hardwired circuitry.

The main part of the arithmetic unit may be realized using hardware that follows a general-purpose architecture (for example, an industrial personal computer based on a general-purpose personal computer). In this case, virtualization technology may be used to run multiple OSs (Operating Systems) for different purposes in parallel, and to run necessary applications on each OS.

(c5: Support device 300)
The support device 300 according to this embodiment is configured, for example, by a general-purpose computer that follows a general-purpose architecture. Since examples of the hardware configuration of general-purpose computers are well known, detailed explanations will not be provided.

<D. Data transfer>
Next, processing related to data transfer of the control system 1 according to the present embodiment will be explained.

When EtherCAT is adopted as the field network 4, there is a communication master (hereinafter abbreviated as "master") that manages the transmission timing of frames 30 in the field network 4, and one or more communication masters that are managed by the communication master. There is a communication slave (hereinafter abbreviated as "slave"). In the configuration example shown in FIG. 2, for example, the main control device 10 serves as a master, and the relay unit 250 serves as a slave.

When each device receives the frame 30 from an adjacent device, it reads the data included in the frame 30 and writes the data held by its own device to the frame 30 (updates the data in the corresponding area of the frame 30). do).

FIG. 6 shows an example of the data structure of a frame 30 that is cyclically transmitted through the field network 4 of the control system 1 according to this embodiment. The frame 30 circulates through all devices (including the main controller 10 and the relay unit 250) connected to the field network 4 at every predetermined transmission cycle (eg, 1 msec to several 100 msec).

As shown in FIG. 6, the frame 30 has an area set for storing transmission data for each device. As an example, the frame 30 includes an area 3M for storing transmission data from the master, and areas 31 to 3N for storing transmission data from the slaves 1 to N, respectively.

For example, when the relay unit 250 corresponds to the slave 1, upon receiving the frame 30, the relay unit 250 writes the data held by the own unit (transmission data 50) in the area 31 of the received frame 30, and , reads out data (received data 60) stored in areas 3M, 32 to 3N of frame 30.

Arithmetic unit 200 transmits and receives data via relay unit 250. That is, the arithmetic unit 200 exchanges data with the main control device 10 and other sub-control devices 20 connected to the field network 4 via the relay unit 250.

FIG. 7 is a diagram for explaining data transfer by the sub-control device 20 of the control system 1 according to the present embodiment. Referring to FIG. 7, arithmetic unit 200 of sub-control device 20 holds process data 70.

Process data 70 includes input data 72, output data 74, and system data 76. The input data 72 includes, for example, signals measured or detected by various sensors. Output data 74 includes the results of control calculations 40 based on input data 72 and the like. System data 76 includes management information by system management 82 . The management information indicates the operating state of the sub-control device 20, the occurrence of an error, and the like.

Among input data 72, output data 74, and system data 76, designated data is copied as transmission data 50. Additionally, the received data 60 is basically copied as input data 72. In the sub-control device 20 , data is exchanged between the process data 70 and the transmitted data 50 and received data 60 according to the exchange settings 268 .

The transmission data 50 and the reception data 60 are updated every transmission period of cyclic communication of the field network 4. Data exchange between the process data 70 and the transmitted data 50 and received data 60 is performed every transmission cycle of the internal bus 6.

In this way, the relay unit 250 transmits the process data 70 managed by the calculation unit 200 via the field network 4 and the calculation unit 200 receives the received data 60 via the field network 4 according to the exchange setting 268. It is configured to execute data transfer including updating of process data 70 to be managed.

<E. Relay unit>
Next, data transfer by relay unit 250 of control system 1 according to this embodiment will be explained.

As described above, the arithmetic unit 200 of the sub-control device 20 exchanges data with the main control device 10 and other sub-control devices 20 connected to the field network 4 via the relay unit 250. In order to realize such data exchange, the relay unit 250 has a storage area that holds data sent and received via the field network 4 and a storage area that holds data that is sent and received via the internal bus 6. have.

FIG. 8 is a diagram for explaining data transfer by relay unit 250 of control system 1 according to the present embodiment. Referring to FIG. 8, relay unit 250 holds transmission data 50 and reception data 60 exchanged via field network 4, and input data 90 and output data exchanged with calculation unit 200. Data 80 is held.

The exchange settings 268 described above are the first settings (entries included in the output data 80) indicating the data to be transmitted (output data 80) among the process data 70 managed by the arithmetic unit 200, and the first settings (entries included in the output data 80) to be transmitted via the network. A second setting (an entry included in the transmission data 50) indicating the data (transmission data 50), and a third setting indicating the data to be updated (input data 90) among the process data 70 managed by the calculation unit 200. (an entry included in the input data 90) and a fourth setting (an entry included in the received data 60) indicating data to be received via the network (received data 60).

Usually, the data size of the data included in the output data 80 from the arithmetic unit 200 matches the data size of the data included in the transmission data 50 sent to the main control device 10 and other sub-control devices 20. Similarly, the data size of the data included in the received data 60 from the main control device 10 and other sub-control devices 20 matches the data size of the data included in the input data 90 transmitted to the arithmetic unit 200.

Therefore, the relay unit 250 (or the arithmetic unit 200) determines that the data sizes set between the output data 80 and the transmission data 50 do not match based on the entry set in the exchange setting 268, and/or If the data sizes set between input data 90 and received data 60 do not match, data transfer may be stopped or invalidated.

That is, the relay unit 250 (or the arithmetic unit 200) determines whether or not the data sizes of the entries included in the output data 80 and the entries included in the transmission data 50 match, and the data size of the entries included in the input data 90. It is determined whether or not the data sizes of the entry and the entry included in the received data 60 match. If the data sizes do not match between the entries included in the output data 80 and the entries included in the transmission data 50 and/or the entries included in the input data 90 and the entries included in the reception data 60. If the data sizes do not match, data transfer according to exchange settings 268 is stopped or disabled.

However, during the stage of designing and developing all or part of the control system 1, the data transmitted and received by the main control device 10 and one or more sub-control devices 20 may often change. Therefore, situations often occur in which the data sizes set between the output data 80 and the transmission data 50 do not match, and/or the data sizes set between the input data 90 and the received data 60 do not match. obtain. As a result, data transfer in the control system 1 may be stopped or disabled.

Therefore, in the control system 1 according to the present embodiment, if the data sizes do not match between the entries included in the output data 80 and the entries included in the transmission data 50, and/or the entries included in the input data 90 Even if the data size does not match between the entry included in the received data 60 and the entry included in the received data 60, data transfer according to the exchange setting 268 can be executed.

That is, even if the data sizes set between the output data 80 and the transmission data 50 do not match, and/or the data sizes set between the input data 90 and the received data 60 do not match, , it is also possible to perform data transfer in the relay unit 250.

FIG. 9 is a diagram showing an example in which data sizes set in relay unit 250 of control system 1 according to the present embodiment do not match. Referring to FIG. 9, output data 80 includes only two entries, whereas transmission data 50 includes four entries. Further, while the received data 60 includes four entries, the input data 90 includes only two entries.

In the example shown in FIG. 9, the data sizes set between output data 80 and transmission data 50 do not match. Similarly, the data sizes set between input data 90 and received data 60 do not match. Even in such a case, data transfer by relay unit 250 may be performed.

In order to realize such data transfer, for example, the transmission data 50 and reception data 60 held by the relay unit 250 may be set to a predetermined data size. As a method of fixing the data size, a dummy data entry may be automatically set so that a fixed data size is maintained even if the entry is not explicitly set. Alternatively, by padding an area where no entry exists with some data, the data size may be maintained constant even if the entry changes.

FIG. 10 is a diagram illustrating an example of processing when the data sizes set in relay unit 250 of control system 1 according to the present embodiment do not match.

Referring to FIG. 10, when the data sizes do not match as shown in FIG. 9, relay unit 250 formally matches the data sizes by adding dummy data. In the example shown in FIG. 10, dummy data corresponding to two entries of the transmission data 50 is added to the output data 80. Furthermore, dummy data corresponding to the two entries of the received data 60 is added to the input data 90.

In this way, the relay unit 250 may generate dummy data based on the exchange settings 268 so that data of a predetermined data size is transferred. That is, the relay unit 250 may generate dummy data corresponding to the difference between the data size of the entry indicated by the exchange setting 268 and a predetermined data size.

Furthermore, data transfer may be performed for entries that match between the output data 80 and the transmission data 50 and/or entries that match between the input data 90 and the received data 60.

In the examples shown in FIGS. 9 and 10, two entries match between the output data 80 and the transmission data 50, and the data corresponding to these two entries will not be transferred even if the data is transferred. good. Furthermore, two entries match between the input data 90 and the received data 60, and data transfer may be performed for data corresponding to these two entries.

In this way, data transfer is performed within the range of entries that match between the output data 80 and the transmission data 50 and/or within the range of entries that match between the input data 90 and the received data 60. May be executed. That is, the relay unit 250 selects matching data between the entry included in the output data 80 (data indicated by the first setting) and the entry included in the transmission data 50 (data indicated by the second setting), and , data transfer is performed for matching data among the entry included in the input data 90 (data indicated by the third setting) and the entry included in the received data 60 (data indicated by the fourth setting).

Note that whether or not the entries match may be determined based on the number and data type of the data set in each entry, or based on the data length of the data set in each entry. It may be determined that

FIG. 11 is a diagram for explaining an example of processing in relay unit 250 of control system 1 according to the present embodiment. FIG. 11 shows an example in which there is no matching entry between output data 80 and transmission data 50, and there is no matching entry between input data 90 and received data 60. .

In exchange setup 268 as shown in FIG. 11, data exchange 46 is not substantially performed. However, the data update 42 between the main controller 10 and the relay unit 250 via the field network 4, and the data update 44 between the arithmetic unit 200 and the relay unit 250 via the internal bus 6 are performed periodically. is executed.

In this way, the relay unit 250 periodically updates the entries included in the output data 80 (data indicated by the first setting) and the entries included in the input data 90 (data indicated by the third setting), and The entries included in the transmission data 50 (data indicated by the second setting) and the entries included in the received data 60 (data indicated by the fourth setting) are repeatedly updated.

In addition, the behavior when the data size set between the output data 80 and the transmission data 50 do not match, and/or the data size set between the input data 90 and the received data 60 does not match, can be set arbitrarily. It may be possible to set it to . For example, if the data sizes do not match, (1) the relay unit 250 transfers the data after notifying the user, or (2) the relay unit 250 transfers the data without notifying the user of any kind of warning. The user may be able to arbitrarily select from a plurality of modes, such as (3) executing (3) stopping or disabling data transfer at the relay unit 250.

That is, (1) or (2) may be selected in a predetermined specific state, and (3) may be selected in a state other than the specific state.

When (1) or (2) is selected, exchange settings are required for data updates between main controller 10 and relay unit 250, and data updates between arithmetic unit 200 and relay unit 250. It may be executed independently of the settings of H.268. Furthermore, modes may be added in which the types or degrees of importance of the alarms to be notified are different.

If (3) is selected, any of the data update between the main controller 10 and the relay unit 250, the data update between the arithmetic unit 200 and the relay unit 250, and the data exchange in the relay unit 250 is selected. may also be stopped or disabled.

In this way, the state for executing each of (1) to (3) may be selected depending on the mode set by the user. As a method for the user to make settings, a switch provided in the relay unit 250 or the arithmetic unit 200 may be used, or the user may change the internal mode setting by operating the support device 300.

Further, as a method for notifying the warning in (1), a method of blinking or lighting a display device (for example, an LED) provided in the relay unit 250 or the arithmetic unit 200 may be adopted. Alternatively, as a method for notifying the warning, a method may be adopted in which a sound or voice indicating the warning is output from an audio device (for example, a speaker) provided in the relay unit 250 or the arithmetic unit 200. Alternatively, a flag indicating the presence or absence of a warning may be provided in the system data of the arithmetic unit 200 so that the user can recognize the occurrence of a warning by operating the support device 300.

In this way, when the data sizes do not match between an entry included in the output data 80 and an entry included in the transmission data 50, and/or an entry included in the input data 90 and an entry included in the received data 60, the control system 1 The information may include a notification unit that provides a warning when the data size does not match with the entry included in the entry.

FIG. 12 is a diagram for explaining an example of the operation when data updating is stopped in the control system according to the present embodiment. FIG. 12 shows a state in which data updating 44 (updating of output data 80 and transmission of input data 90) between arithmetic unit 200 and relay unit 250 is stopped for some reason.

Reasons for stopping include, for example, (1) some kind of failure has occurred in any of the units; (2) there is some kind of error in the settings of any of the units (this may also include cases where no settings have been made). , (3) Some kind of abnormality has occurred in the communication involving one of the units (the own unit may be the cause of the communication error, or another unit may be the cause of the communication error) ), etc.

Even in such a state, data updating 42 (transmission of transmission data 50 and updating of reception data 60) between main control device 10 and relay unit 250 continues. That is, data update 42 between main controller 10 and relay unit 250 and data update 44 between arithmetic unit 200 and relay unit 250 are executed independently of each other, so if one of them stops for some reason. Even if one does, it will not affect the other.

Note that although FIG. 12 shows a state where the data update 44 between the arithmetic unit 200 and the relay unit 250 is stopped, it is also possible that the data update 42 between the main controller 10 and the relay unit 250 is stopped. The same is true even if you are in a state where you are.

Furthermore, in the main control device 10, a mechanism is provided in which it is possible to know the state in which the data update 44 between the arithmetic unit 200 and the relay unit 250 is stopped, and/or in the arithmetic unit 200, the relay unit 250 and the relay unit 250 A mechanism may be provided that allows the user to know when the data update 42 with the unit 250 is stopped.

For example, in the state shown in FIG. 12, the data update 42 between the main controller 10 and the relay unit 250 is continued, and the main controller 10 continues the data update 44 between the arithmetic unit 200 and the relay unit 250. It is not possible to directly know that it is stopped. Therefore, the relay unit 250 may transmit information regarding the validity of the communication including that the data update 44 between the arithmetic unit 200 and the relay unit 250 has been stopped to the main control device 10.

Based on the information from the relay unit 250, the main control device 10 can know an abnormality occurring in the data communication from the relay unit 250 to the arithmetic unit 200. For example, by assigning information regarding validity to an arbitrary variable, the variable may be made referenceable from the user program 132 executed in the main control device 10.

Similarly, in a state where the data update 42 between the main controller 10 and the relay unit 250 is stopped, the relay unit 250 is in a state where the data update 42 between the main controller 10 and the relay unit 250 is stopped. Information regarding the validity of the communication, including the fact that the communication is valid, may be transmitted to the calculation unit 200.

In this way, by adopting a mechanism that allows the main control device 10 and/or the processing unit 200 to know the status of networks that are not directly connected, the main controller 10 and/or the processing unit 200 can monitor the validity of communication while Communication processing can be executed in the control device 10 and/or the arithmetic unit 200.

<F. Processing procedure example>
Next, an example of a processing procedure of relay unit 250 in control system 1 according to the present embodiment will be described.

FIG. 13 is a flowchart illustrating an example of a processing procedure for transmitting I/O data through cyclic communication by relay unit 250 according to the present embodiment. Each step shown in FIG. 13 may be realized by the processor 262 of the relay unit 250 executing a system program.

Referring to FIG. 13, relay unit 250 determines whether the conditions for reading exchange settings 268 are satisfied (step S100). Conditions for reading the exchange settings 268 include, for example, immediately after the relay unit 250 is powered on, immediately after the relay unit 250 is reset, and immediately after the new exchange settings 268 are transferred from the support device 300.

If the conditions for reading exchange settings 268 are met (YES in step S100), relay unit 250 reads exchange settings 268, assigns entries for output data 80 and input data 90, and assigns transmission data 50 and reception data. Obtain entry allocation for the data 60 (step S102), and check whether the data sizes set between the output data 80 and the transmission data 50 match, and whether the data sizes set between the input data 90 and the reception data 60 match. It is determined whether the set data sizes match (step S104).

If the data sizes set between the output data 80 and the transmission data 50 do not match, and/or the data sizes set between the input data 90 and the received data 60 do not match (NO in step S104) , the relay unit 250 obtains the currently set mode (step S106), and determines whether the data size mismatch is a data transfer execution condition according to the set mode (step S108). ).

If the data size mismatch is a data transfer execution condition (YES in step S108), relay unit 250 stops data transfer (step S110). Then, the process ends.

If the data size mismatch is not a data transfer execution condition (NO in step S108), the relay unit 250 issues a warning indicating the data size mismatch in a manner according to the set mode (step S112). . Further, the relay unit 250 determines the data transfer target based on entries that match between the output data 80 and the transmission data 50 and entries that match between the input data 90 and the received data 60. Data is determined (step S114). Then, the processing from step S100 onwards is repeated.

If the data sizes set between the output data 80 and the transmission data 50 match, and the data sizes set between the input data 90 and the reception data 60 match (YES in step S104), the relay The unit 250 determines data to be transferred based on the exchange settings 268 (step S116). Then, the processing from step S100 onwards is repeated.

If the conditions for reading exchange settings 268 are not satisfied (NO in step S100), relay unit 250 updates transmission data 50 and reception data 60 (step S118), and also updates output data 80 and input data 90. (Step S120). In other words, the relay unit 250 updates the transmitted data 50 and the received data 60 between the main controller 10 and the relay unit 250 via the field network 4, and updates the internal bus regardless of the settings of the exchange settings 268. Data updating of the output data 80 and the input data 90 between the arithmetic unit 200 and the relay unit 250 via 6 is performed periodically.

Then, the relay unit 250 performs data transfer between the output data 80 and the transmission data 50 and between the reception data 60 and the input data 90 regarding the data to be transferred (step S122). Note that there may be cases where there is no data to be transferred. In this case, virtually no data exchange takes place. Then, the processing from step S100 onwards is repeated.

Although FIG. 13 shows a processing example in which the relay unit 250 evaluates the settings of the exchange settings 268, the calculation unit 200 may evaluate the settings of the exchange settings 268. In this case, the processing procedure shown in FIG. 13 will be executed by the arithmetic unit 200 and the relay unit 250 in cooperation. Furthermore, the support device 300 may execute at least a portion of the processing procedure shown in FIG.

Note that if the exchange setting 268 does not exist and/or if there is virtually no setting content in the exchange setting 268, no settings will be made even if the relay unit 250 reads the exchange setting 268. . Even in such a case, the data exchange 46 (updating the transmitted data 50 with the output data 80 and updating the input data 90 with the received data 60) in the relay unit 250 is not executed, and the main controller 10 and the relay unit 250 (transmission of the transmission data 50 and update of the reception data 60), and data update 44 (update of the output data 80 and update of the input data) between the arithmetic unit 200 and the relay unit 250. 90) may be performed according to predetermined settings.

In this way, the relay unit 250 may continue updating data with the main controller 10 and updating data with the arithmetic unit 200 even if the exchange setting 268 does not exist.

<G. User interface>
Next, an example of a user interface for creating exchange settings 268 for relay unit 250 in control system 1 according to the present embodiment will be described.

FIG. 14 is a schematic diagram showing an example of a user interface for creating exchange settings 268 for relay unit 250 in control system 1 according to the present embodiment. For example, the support device 300 provides the user interface shown in FIG.

Referring to FIG. 14, a setting screen 350 displays a setting item group 352 for data to be transferred from the arithmetic unit 200 to the main controller 10, and a setting item group 354 for data to be transferred from the main controller 10 to the arithmetic unit 200. include. Each of the setting item groups 352 and 354 includes multiple types of settings according to data structure and data type. The setting screen 350 includes a data candidate group 356 to be data transferred.

The user selects the target item from the setting item groups 352 and 354, and then selects the data to be transferred from the data candidate group 356. By pressing the add button 358, the selected data is added as a transfer target, and by pressing the delete button 360, the selected data is deleted from the transfer target.

The exchange settings 268 created by the user by operating the settings screen 350 are stored in the relay unit 250, and the corresponding settings are also stored in the main controller 10 and the calculation unit 200.

The user interface is not limited to the example shown in FIG. 14, and any interface may be provided, or the exchange settings 268 may be created by any method without providing a user interface.

Further, a separate setting screen is provided for setting entries of data included in the frame 30 of the field network 4.

Furthermore, the user interface may not be provided by the support device 300, but may be directly provided by the computing unit 200 or the relay unit 250. In this case, for example, a web server function may be incorporated into the computing unit 200 or the relay unit 250.

In this manner, control system 1 may provide a user interface for creating exchange settings 268 in response to user operations.

<H. Additional notes＞
This embodiment as described above includes the following technical idea.

[Configuration 1]
A control system (1) comprising a first control device (10) and a second control device (20) connected via a network (4),
The second control device includes a calculation unit (200) that performs control calculations, and a relay unit (250) having an interface (270) for connecting to the network,
The relay unit transmits data (70) managed by the computing unit via the network and updates the data managed by the computing unit with data received via the network, according to exchange settings (268). is configured to perform data transfers including,
The exchange settings include a first setting indicating data to be transmitted (80) among data managed by the calculation unit, a second setting indicating data (50) to be transmitted via the network, and a second setting indicating the data (50) to be transmitted via the network. including a third setting indicating data (90) to be updated among data managed by the unit, and a fourth setting indicating data (60) received via the network,
The relay unit is
Whether or not the data sizes of the data indicated by the first setting and the data indicated by the second setting match, and the data indicated by the third setting and the data indicated by the fourth setting. determine at least one of whether the data sizes match between the
In a predetermined first state, if the data size does not match between the data indicated by the first setting and the data indicated by the second setting, and/or the data indicated by the third setting and data indicated by the fourth setting, the control system executes data transfer according to the exchange setting even if data sizes do not match.

[Configuration 2]
In the first state, the relay unit periodically updates the data indicated by the first setting and the data indicated by the third setting, and periodically updates the data indicated by the second setting and the data indicated by the fourth setting. The control system according to configuration 1, wherein the control system repeatedly updates the data indicated by the settings.

[Configuration 3]
The control system according to configuration 2, wherein the relay unit continues updating data with the first control device and updating data with the arithmetic unit even if the exchange setting does not exist.

[Configuration 4]
If the data sizes do not match between the data indicated by the first setting and the data indicated by the second setting, and/or the data indicated by the third setting and the data indicated by the fourth setting. 4. The control system according to any one of configurations 1 to 3, further comprising a notification unit that issues a warning when the data sizes do not match.

[Configuration 5]
The relay unit may match the data indicated by the first setting and the data indicated by the second setting, and the data indicated by the third setting and the data indicated by the fourth setting. The control system according to any one of configurations 1 to 4, wherein the control system executes data transfer for matching data.

[Configuration 6]
6. The control system according to any one of configurations 1 to 5, wherein the relay unit generates dummy data based on the exchange setting so that data of a predetermined data size is transferred.

[Configuration 7]
The control system according to any one of configurations 1 to 6, wherein the control system provides a user interface (350) for creating the exchange settings in response to a user operation.

[Configuration 8]
The relay unit is
In a second state different from the first state, if the data size does not match between the data indicated by the first setting and the data indicated by the second setting, and/or According to any one of configurations 1 to 7, if the data size does not match between the data indicated by the setting and the data indicated by the fourth setting, data transfer according to the exchange setting is stopped or invalidated. control system.

[Configuration 9]
9. The control system according to configuration 8, wherein the first state and the second state are determined depending on a mode set by a user.

[Configuration 10]
A control device (20) connected to another control device (10) via a network (4),
a calculation unit (200) that performs control calculation;
a relay unit (250) having an interface (270) for connecting to the network (4),
The relay unit transmits data (70) managed by the computing unit via the network and updates the data managed by the computing unit with data received via the network, according to exchange settings (268). is configured to perform data transfers including,
The exchange settings include a first setting indicating data to be transmitted (80) among data managed by the calculation unit, a second setting indicating data (50) to be transmitted via the network, and a second setting indicating the data (50) to be transmitted via the network. including a third setting indicating data to be updated among data (90) managed by the unit, and a fourth setting indicating data (60) received via the network,
The relay unit is
Whether or not the data sizes of the data indicated by the first setting and the data indicated by the second setting match, and the data indicated by the third setting and the data indicated by the fourth setting. determine at least one of whether the data sizes match between the
In a predetermined first state, if the data size does not match between the data indicated by the first setting and the data indicated by the second setting, and/or the data indicated by the third setting and data indicated by the fourth setting, the control device executes data transfer according to the exchange setting even if data sizes do not match.

[Configuration 11]
A communication method in a control system (1) comprising a first control device (10) and a second control device (20) connected via a network (4), wherein the second control device executes a control calculation. and a relay unit having an interface for connecting to the network, the communication method comprising:
The relay unit transmits data (70) managed by the computing unit via the network and updates the data managed by the computing unit with data received via the network, according to exchange settings (268). , the exchange settings include a first setting indicating data (80) to be transmitted among data managed by the arithmetic unit, and data (80) to be transmitted via the network. 50), a third setting indicating data (90) to be updated among data managed by the arithmetic unit, and a fourth setting indicating data (60) to be received via the network. including the settings of
Whether or not the data sizes of the data indicated by the first setting and the data indicated by the second setting match, and the data indicated by the third setting and the data indicated by the fourth setting. a step of determining at least one of whether or not the data sizes match between the two (S104);
In a predetermined first state, if the data size does not match between the data indicated by the first setting and the data indicated by the second setting, and/or the data indicated by the third setting and the step (S118 to S122) in which the relay unit executes data transfer according to the exchange setting even if the data size does not match between the data indicated by the exchange setting and the data indicated by the fourth setting. .

The embodiments disclosed this time should be considered to be illustrative in all respects and not restrictive. The scope of the present invention is indicated by the claims rather than the above description, and it is intended that all changes within the meaning and range equivalent to the claims are included.

1 Control system, 3M, 31, 32 to 3N area, 4 Field network, 6 Internal bus, 10 Main controller, 20 Sub controller, 30 Frame, 40 Control calculation, 50 Transmission data, 60 Reception data, 70 Process data, 72,90 input data, 74,80 output data, 76 system data, 82 system management, 100,200 arithmetic unit, 102,202,262 processor, 104,204 chipset, 106,206,264 memory, 108,208, 266 storage, 110,210 upper network interface, 112,212 USB interface, 114,214 memory card interface, 116,216 memory card, 120,270 field network interface, 131,231 system program, 132,232 user program, 220, 280 internal bus interface, 250 relay unit, 260 processing circuit, 268 exchange setting, 300 support device, 350 setting screen, 352, 354 setting item group, 356 data candidate group, 358 add button, 360 delete button.

Claims (11)

A control system comprising a first control device and a second control device connected via a network,
The second control device includes a calculation unit that performs control calculations and a relay unit that has an interface for connecting to the network,
The relay unit performs data transfer, including transmitting data managed by the computing unit via the network and updating data managed by the computing unit with data received via the network, according to exchange settings. is configured to run
The exchange settings include a first setting indicating data to be transmitted among the data managed by the computing unit, a second setting indicating data to be transmitted via the network, and a second setting indicating data to be transmitted among the data managed by the computing unit. including a third setting indicating data to be updated and a fourth setting indicating data received via the network,
The relay unit is
Whether or not the data sizes of the data indicated by the first setting and the data indicated by the second setting match, and the data indicated by the third setting and the data indicated by the fourth setting. determine at least one of whether the data sizes match or not,
In a predetermined first state, if the data size does not match between the data indicated by the first setting and the data indicated by the second setting, and/or the data indicated by the third setting and data indicated by the fourth setting, the control system executes data transfer according to the exchange setting even if data sizes do not match. In the first state, the relay unit periodically updates the data indicated by the first setting and the data indicated by the third setting, and periodically updates the data indicated by the second setting and the data indicated by the fourth setting. The control system according to claim 1, wherein the control system repeatedly updates the data indicated by the setting. The control system according to claim 2, wherein the relay unit continues updating data with the first control device and updating data with the arithmetic unit even if the exchange setting does not exist. If the data sizes do not match between the data indicated by the first setting and the data indicated by the second setting, and/or the data indicated by the third setting and the data indicated by the fourth setting. The control system according to claim 1, further comprising a notification unit that issues a warning when the data sizes do not match. The relay unit may match the data indicated by the first setting and the data indicated by the second setting, and the data indicated by the third setting and the data indicated by the fourth setting. 5. The control system according to claim 1, wherein the control system executes data transfer for matching data. The control system according to any one of claims 1 to 4, wherein the relay unit generates dummy data based on the exchange settings so that data of a predetermined data size is transferred. The control system according to any one of claims 1 to 4, wherein the control system provides a user interface for creating the exchange settings in response to a user operation. The relay unit is
In a second state different from the first state, if the data size does not match between the data indicated by the first setting and the data indicated by the second setting, and/or According to any one of claims 1 to 4, when data sizes do not match between the data indicated by the setting and the data indicated by the fourth setting, data transfer according to the exchange setting is stopped or invalidated. Control system as described. The control system according to claim 8, wherein the first state and the second state are determined depending on a mode set by a user. A control device connected to other control devices via a network,
a calculation unit that performs control calculations;
and a relay unit having an interface for connecting to the network,
The relay unit performs data transfer, including transmitting data managed by the computing unit via the network and updating data managed by the computing unit with data received via the network, according to exchange settings. is configured to run
The exchange settings include a first setting indicating data to be transmitted among the data managed by the computing unit, a second setting indicating data to be transmitted via the network, and a second setting indicating data to be transmitted among the data managed by the computing unit. including a third setting indicating data to be updated and a fourth setting indicating data received via the network,
The relay unit is
Whether or not the data sizes of the data indicated by the first setting and the data indicated by the second setting match, and the data indicated by the third setting and the data indicated by the fourth setting. determine at least one of whether the data sizes match between the
In a predetermined first state, if the data size does not match between the data indicated by the first setting and the data indicated by the second setting, and/or the data indicated by the third setting and data indicated by the fourth setting, the control device executes data transfer according to the exchange setting even if data sizes do not match. A communication method in a control system including a first control device and a second control device connected via a network, wherein the second control device includes an arithmetic unit that executes control calculations and a control unit for connecting to the network. and a relay unit having an interface, the communication method comprising:
The relay unit performs data transfer, including transmitting data managed by the computing unit via the network and updating data managed by the computing unit with data received via the network, according to exchange settings. The exchange settings include a first setting indicating data to be transmitted among data managed by the arithmetic unit, a second setting indicating data to be transmitted via the network, and a second setting indicating the data to be transmitted via the network; including a third setting indicating data to be updated among data managed by the unit, and a fourth setting indicating data received via the network,
Whether or not the data sizes of the data indicated by the first setting and the data indicated by the second setting match, and the data indicated by the third setting and the data indicated by the fourth setting. a step of determining at least one of whether the data sizes match between the two;
In a predetermined first state, if the data size does not match between the data indicated by the first setting and the data indicated by the second setting, and/or the data indicated by the third setting and the step of causing the relay unit to perform data transfer according to the exchange setting even if data sizes do not match between the data indicated by the exchange setting and the data indicated by the fourth setting.

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