JP2024088106A - Control system, processing method, and data relay program - Google Patents

Abstract

To provide a mechanism that does not restrict the execution of a program, even when a program that is executed at a predetermined cycle and a program that is executed whenever a predetermined condition is met are mixed.
[Solution] The control system includes a first process execution unit that executes a first program at predetermined intervals, a second process execution unit that executes a second program whenever a predetermined condition is satisfied, a communication path used for data communication, a first data relay unit arranged between the first process execution unit and the communication path, and a second data relay unit arranged between the second process execution unit and the communication path. The second data relay unit receives data output by the second process execution unit and transmits the received data to the first data relay unit. The first data relay unit stores the data from the second data relay unit so that the first process execution unit can access the data from the second data relay unit.
[Selected Figure] Figure 6

Description

The present invention relates to a control system, a processing method, and a data relay program.

In the field of industrial automation, efforts to link operational technology (OT), which controls industrial systems, with information technology (IT), which controls information systems, are gaining momentum. For example, it is anticipated that data collected by control devices will be analyzed using artificial intelligence (AI).

JP 2019-159882 A (Patent Document 1) discloses an IPC (industrial PC) system that includes a PLC (Programmable Logic Controller) and a programmable display as an HMI, and controls the operation of controlled objects such as machines and equipment.

JP2021-523494A (Patent Document 2) discloses a configuration in which a personal computer (PC) device is used as an industrial PC (IPC).

JP 2019-159882 A Specific Publication No. 2021-523494

Control of industrial systems using OT tends to adopt a time-driven method in which processing is executed at predetermined intervals (for example, sequence control executed at fixed intervals). In contrast, information processing using IT tends to adopt an event-driven method in which processing is executed when a specific event occurs.

When time-driven and event-driven programs are mixed, there is a possibility that inconsistencies will occur in the data exchanged between the programs, and one of the programs may not work as intended. For this reason, it is necessary to run time-driven and event-driven programs in conjunction with each other.

It is also possible to take measures such as adding a program to align the data or modifying the programs related to data exchange. However, taking such measures may reduce maintainability and portability.

One objective of the present invention is to provide a mechanism that does not restrict the execution of a program, even when a program that is executed at a predetermined interval and a program that is executed whenever a predetermined condition is met are mixed.

A control system according to an aspect of the present invention includes a first process execution unit that executes a first program at predetermined intervals, a second process execution unit that executes a second program whenever a predetermined condition is satisfied, a communication path used for data communication, a first data relay unit disposed between the first process execution unit and the communication path, and a second data relay unit disposed between the second process execution unit and the communication path. The second data relay unit receives data output by the second process execution unit and transmits the received data to the first data relay unit. The first data relay unit stores data from the second data relay unit so that the first process execution unit can access the data from the second data relay unit.

According to this configuration, the second process execution unit can start the next process by outputting data reflecting the execution result of the process to the second data relay unit. Therefore, the second process execution unit can execute the second program without being limited by the periodic execution by the first process execution unit.

The first data relay unit may receive data output by the first processing execution unit and transmit the received data to the second data relay unit. The second data relay unit may store the data from the first data relay unit so that the second processing execution unit can access the data from the first data relay unit. According to this configuration, the first processing execution unit can complete the processing by outputting data reflecting the execution result of the processing to the first data relay unit. Therefore, the rate constraint between the first processing execution unit and the second processing execution unit can be reduced.

Each of the first data relay unit and the second data relay unit may include a first message queue for storing data output by the first processing execution unit, and a second message queue for storing data output by the second processing execution unit. With this configuration, the data output by the first processing execution unit and the data output by the second processing execution unit can be handled independently.

When data is stored in the first message queue, the first data relay unit may reflect the stored data in the first message queue of the second data relay unit. When data is stored in the second message queue, the second data relay unit may reflect the stored data in the second message queue of the first data relay unit. With this configuration, data stored in the first message queue and the second message queue can be synchronized between the first data relay unit and the second data relay unit.

Each of the first data relay unit and the second data relay unit may be communication middleware. With this configuration, the first processing execution unit and the second processing execution unit see the procedure as a normal data communication procedure, so there is no need to add special processing.

The first data relay unit and the second data relay unit may each use a driver that handles data communication via the communication path. With this configuration, the first data relay unit and the second data relay unit can leave processing specific to the communication path to the driver, thereby improving versatility.

The first processing execution unit and the second processing execution unit may be included in a single control device. With this configuration, even in a control device that includes both the first processing execution unit and the second processing execution unit, the second processing execution unit can execute the second program without being limited by the execution by the first processing execution unit every period.

The first processing execution unit may be included in the first control device. The second processing execution unit may be included in the second control device. With this configuration, even if multiple control devices are used, the second processing execution unit can execute the second program without being limited by the execution by the first processing execution unit every period.

A processing method according to another aspect of the present invention includes a step in which a first processing execution unit executes a first program at predetermined intervals, a step in which a second processing execution unit executes a second program whenever a predetermined condition is satisfied, a step in which a second data relay unit disposed between the second processing execution unit and the communication path receives data output by the second processing execution unit and transmits the received data to a first data relay unit disposed between the first processing execution unit and the communication path, and a step in which the first data relay unit stores the data from the second data relay unit so that the first processing execution unit can access the data from the second data relay unit.

A data relay program according to yet another aspect of the present invention causes a computer to execute the steps of: configuring a data relay unit connected to a communication path used for data communication between a first processing execution unit that executes a first program at a predetermined cycle and a second processing execution unit that executes a second program whenever a predetermined condition is satisfied; receiving data output by the first processing execution unit and transmitting the received data to another data relay unit; and receiving data output by the second processing execution unit and transmitting the received data to another data relay unit.

According to the present invention, even when a program that is executed at a predetermined interval and a program that is executed whenever a predetermined condition is met are mixed, a mechanism can be realized in which the execution of each program is not restricted.

1 is a schematic diagram showing an example of an overall configuration of an industrial system according to an embodiment of the present invention; FIG. 2 is a schematic diagram showing an example of a hardware configuration of a control device according to the present embodiment. FIG. 2 is a schematic diagram showing an example of a functional configuration of a control device according to the present embodiment. 13 shows an example of processing when a time-driven task and an event-driven task are executed in parallel. FIG. 5 is a diagram illustrating a problem that may occur in the processing example shown in FIG. 4 . 13 shows an example of a process for executing a task in the control device according to the present embodiment. 1 is a schematic diagram showing an example of an industrial system including a control device according to an embodiment of the present invention. FIG. 4 is a schematic diagram showing another configuration example of the control system according to the present embodiment.

The embodiment of the present invention will be described in detail with reference to the drawings. Note that the same or equivalent parts in the drawings will be given the same reference numerals and their description will not be repeated.

<A. Application Examples>
First, an example of a situation in which the present invention is applied will be described.

FIG. 1 is a schematic diagram showing an example of the overall configuration of an industrial system 1 according to the present embodiment. Referring to FIG. 1, the industrial system 1 includes a control device 100 that executes one or more time-driven programs and one or more event-driven programs. In the following description, the process of executing the time-driven programs is also referred to as a "time-driven task 150," and the process of executing the event-driven programs is also referred to as an "event-driven task 160."

A time-driven task 150 includes processing in which one or more time-driven programs are executed at a predetermined cycle. There may be multiple time-driven tasks 150, and the execution cycles of the multiple time-driven tasks 150 may be different from each other. Furthermore, despite being called a "task," the content of the program executed in the time-driven task 150 is not limited.

An event-driven task 160 includes processing that executes one or more event-driven programs each time a predetermined condition is met. There may be multiple event-driven tasks 160, and the conditions for executing the multiple event-driven tasks 160 may be different from each other. The predetermined conditions include, for example, the occurrence of a predetermined event. Furthermore, despite the name "task," the content of the program executed in the event-driven task 160 is not limited.

The control device 100 includes a data relay unit 170 that mediates data communication between the time-driven task 150 and the event-driven task 160. The data relay unit 170 reduces the effects caused by differences in the execution timing of processes between the time-driven task 150 and the event-driven task 160. Details of the data relay unit 170 will be described later.

The control device 100 is, for example, a computer such as an industrial PC (Industrial Personal Computer). The control device 100 may also be a programmable logic controller (PLC).

The control device 100 is connected to a group of devices 10 that constitute an industrial system via an industrial network 2. The industrial network 2 may employ an industrial communication protocol such as EtherCAT (registered trademark), EtherNet/IP (registered trademark), DeviceNet (registered trademark), or CompoNet (registered trademark).

The device group 10 includes devices that collect various information and transmit it to the control device 100, and devices that operate according to commands from the control device 100.

The device group 10 includes, for example, a remote I/O (Input/Output) device 12, a relay group 14, a servo driver 16 and a servo motor 18, a robot 20, and a camera 22.

The remote I/O device 12 and the relay group 14 collect signals from sensors and other devices included in the industrial system, transmit them to the control device 100, and provide signals to actuators and other devices included in the industrial system according to instructions from the control device 100.

The servo driver 16 drives the servo motor 18 according to instructions from the control device 100. The servo driver 16 transmits information indicating the driving state of the servo motor 18 to the control device 100.

The robot 20 operates according to commands from the control device 100. The robot 20 is, for example, an articulated robot, a scalar robot, a mobile robot, etc.

The camera 22 transmits the captured image to the control device 100 or the like in response to a command from the control device 100 or when a predetermined condition is met.

<B. Hardware Configuration Example>
Next, an example of a hardware configuration of control device 100 according to the present embodiment will be described.

FIG. 2 is a schematic diagram showing an example of the hardware configuration of a control device 100 according to the present embodiment. Referring to FIG. 2, the control device 100 includes one or more processors 102, a main memory device 104, an input unit 106, an output unit 108, network controllers 110 and 112, and storage 120.

The processor 102 corresponds to an arithmetic processing unit that executes various processes including the time-driven task 150 and the event-driven task 160. The processor 102 reads out a program stored in the storage 120, deploys it in the main memory device 104, and executes it to realize the processes described below. The processor 102 is composed of a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), an MPU (Micro Processing Unit), etc.

The main memory device 104 is composed of a volatile memory device such as a dynamic random access memory (DRAM) or a static random access memory (SRAM).

The input unit 106 is composed of a mouse, keyboard, touch panel, etc., and accepts instructions from a user. The output unit 108 is composed of a display interface, display, speaker, etc., and outputs processing results from the processor 102, etc.

The network controller 110 is responsible for sending and receiving data via a higher-level network (not shown). The network controller 112 is responsible for sending and receiving data with the device group 10 via the industrial network 2.

The storage 120 is configured with a non-volatile storage device such as a solid state drive (SSD) or a hard disk drive (HDD). The storage 120 stores, for example, one or more operating systems (OS) 121, a hypervisor program 122, a deployment manager program 123, a time-driven program 125, an event-driven program 126, and a data relay program 127.

The hypervisor program 122 contains instructions for configuring the hypervisor. The hypervisor provides a virtual environment in which multiple OSs 121 can run in parallel.

The deployment manager program 123 deploys the program on the virtual environment.
The time-driven program 125 is a program that corresponds to the time-driven task 150 .

The event-driven program 126 is a program that corresponds to the event-driven task 160.

The data relay program 127 includes instructions for configuring the data relay unit 170. In other words, the data relay program 127 includes instructions for configuring the data relay unit 170.

Figure 2 shows an example of a configuration in which the processor 102 executes a program to provide the necessary functions, but some or all of the provided functions may be implemented using dedicated hardware circuits (e.g., ASICs (Application Specific Integrated Circuits), FPGAs (Field-Programmable Gate Arrays), etc.).

<C. Functional configuration example>
Next, an example of a functional configuration of control device 100 according to the present embodiment will be described.

Figure 3 is a schematic diagram showing an example of the functional configuration of a control device 100 according to this embodiment. Figure 3 shows an example of a configuration in which a virtual environment is configured in a single piece of hardware, and multiple independent programs are executed on the configured virtual environment.

Referring to FIG. 3, the control device 100 includes a hypervisor 180, a first control unit 130, and a second control unit 140.

The hypervisor 180 provides the hardware resources available in the control device 100 to the first control unit 130 and the second control unit 140. The hypervisor 180 has a virtual internal bus 182 used for data communication between the first control unit 130 and the second control unit 140. The virtual internal bus 182 is an example of a communication path responsible for data communication.

The first control unit 130 includes a first processing execution unit 132, an OS 121, a time-driven program 125, a data relay unit 170-1, and interfaces 173 and 174.

The first process execution unit 132 executes one or more time-driven programs 125 at predetermined intervals.

The OS 121 provides an environment for the first process execution unit 132 to execute the time-driven program 125. The OS 121 has a driver 124 for performing data communication via the virtual internal bus 182.

The data relay unit 170-1 is disposed between the first process execution unit 132 and the virtual internal bus 182. The data relay unit 170-1 may be communication middleware. The data relay unit 170-1 may be configured to use the driver 124 that is responsible for data communication via the virtual internal bus 182.

The data relay unit 170-1 includes a time-driven message queue 171 and an event-driven message queue 172. The message queues 171 and 172 are a type of buffer memory.

Interfaces 173 and 174 mediate access to driver 124 by data relay unit 170-1. Interface 173 is responsible for data stored in time-driven message queue 171, and interface 174 is responsible for data related to event-driven message queue 172.

The second control unit 140 includes a second processing execution unit 142, an OS 121, a data relay unit 170-2, interfaces 173 and 174, and an event-driven program 126.

The second process execution unit 142 executes one or more event-driven programs 126 each time a predetermined condition is met.

The OS 121 provides an environment for the second process execution unit 142 to execute the event-driven program 126. The OS 121 has a driver 124 for performing data communication via the virtual internal bus 182.

The data relay unit 170-2 is disposed between the second process execution unit 142 and the virtual internal bus 182. The data relay unit 170-2 may be communication middleware. The data relay unit 170-2 may be configured to use the driver 124 that is responsible for data communication via the virtual internal bus 182.

The data relay unit 170-2 includes a time-driven message queue 171 and an event-driven message queue 172. The message queues 171 and 172 are a type of buffer memory.

Interfaces 173 and 174 mediate access to driver 124 by data relay unit 170-2. Interface 173 is responsible for data stored in time-driven message queue 171, and interface 174 is responsible for data related to event-driven message queue 172.

In the example configuration shown in FIG. 3, the first processing execution unit 132 and the second processing execution unit 142 are included in a single control device 100.

D. Problems and Solutions
Next, problems to be solved by control device 100 according to the present embodiment and means for solving the problems will be described.

Figure 4 shows an example of processing when the time-driven task 150 and the event-driven task 160 are executed in parallel. In the example shown in Figure 4, the time-driven task 150 and the event-driven task 160 are executed using common hardware resources. The time-driven task 150 is executed with the highest priority. The event-driven task 160 is executed during a time when the time-driven task 150 is not being executed, in response to an event generated by the time-driven task 150.

Referring to FIG. 4, the time-driven task 150 is repeatedly executed at each period T. The time-driven task 150 includes a calculation process 151, an output process 152, and an input process 153.

The output process 152 is a process that outputs the result (value) calculated in the immediately preceding calculation process 151. The input process 153 is a process that takes in the input values required for the calculation process 151.

Calculation processing 151 includes the execution of predetermined commands, the calculation of results (V1, V2, ...) obtained by executing the commands, the occurrence of events, etc.

The event-driven task 160 starts processing in response to an event that occurs in the time-driven task 150. The result calculated or generated after the execution of the event-driven task 160 is output to the time-driven task 150. Note that after the event-driven task 160 starts processing in response to an event that occurs in the time-driven task 150, when the execution of the time-driven task 150 starts in the next cycle, the execution of the event-driven task 160 is temporarily paused. In this way, the processing is executed according to the priority. For this reason, it is difficult to start the event-driven task 160 at any timing.

Figure 5 is a diagram showing problems that may arise in the processing example shown in Figure 4. Referring to Figure 5, the start of the event-driven task 160 depends on the timing at which the time-driven task 150 generates an event, but depending on the processing content, there is a need to start the event-driven task 160 at any timing (reference numeral 50).

In addition, the results output from the event-driven task 160 are taken into the time-driven task 150 by the input process 153. Therefore, before the event-driven task 160 outputs a new result, it must wait until the time-driven task 150 has been executed at least once. For example, if the period of the time-driven task 150 is 125 μs, the start of the event-driven task 160 may be delayed by up to 125 μs.

Depending on the processing content, there is a need to start the next event-driven task 160 before the time-driven task 150 is executed (symbol 52). In other words, there is a need to execute the event-driven task 160 faster and/or more frequently (symbol 54).

In this case, a problem may occur in which the results output each time the event-driven task 160 is executed are not imported into the time-driven task 150 (reference numeral 56). In other words, the execution frequency of the event-driven task 160 is limited by the length of one cycle of the time-driven task 150.

The control device 100 according to this embodiment can start the event-driven task 160 at any timing. As a result, the event-driven task 160 can be executed asynchronously with the time-driven task 150, which is mainly responsible for controlling the industrial system. In other words, the event-driven task 160 can be started without being limited by the time-driven task 150.

By adopting such a configuration, the period of the time-driven task 150 and the start timing of the event-driven task 160 can be loosely coupled. This allows the start timing of the event-driven task 160 to be freely set without depending on the period of the time-driven task 150.

Figure 6 shows an example of task execution processing in the control device 100 according to this embodiment. With reference to Figure 6, the control device 100 includes a data relay unit 170-1 associated with a time-driven task 150, and a data relay unit 170-2 associated with an event-driven task 160. The data relay units 170-1 and 170-2 are capable of data communication via interfaces 173, 174, a driver 124, and a virtual internal bus 182 (all see Figure 3).

For example, when a result (value) is output by the output process 152 of the time-driven task 150, the output result is stored in the time-driven message queue 171 of the data relay unit 170-1 (symbol 72). Then, through data communication between the data relay unit 170-1 and the data relay unit 170-2, the result stored in the message queue 171 of the data relay unit 170-1 is also stored in the message queue 171 of the data relay unit 170-2 (symbol 74). The event-driven task 160 can use the result output by the time-driven task 150 by accessing the message queue 171 of the data relay unit 170-2 (symbol 76).

That is, the data relay unit 170-1 receives data output by the first process execution unit 132 executing the time-driven program 125 (reference number 72), and transmits the received data to the data relay unit 170-2 (reference number 74). The data relay unit 170-2 stores the data from the data relay unit 170-1 in the message queue 171 so that the second process execution unit 142 executing the event-driven program 126 can access the data from the data relay unit 170-1.

On the other hand, the event-driven task 160 is started in response to an event 60 that occurs in any manner, not in response to an event generated by the time-driven task 150. The event 60 is an event trigger independent of the time-driven task 150, and may be generated by any dispatcher. Therefore, the event-driven task 160 can be started at any timing.

The results output after execution of the event-driven task 160 are stored in the event-driven message queue 172 of the data relay unit 170-1 (symbol 82). Then, through data communication between the data relay unit 170-2 and the data relay unit 170-1, the results stored in the message queue 172 of the data relay unit 170-2 are also stored in the message queue 172 of the data relay unit 170-2 (symbol 84). The time-driven task 150 can use the results output by the event-driven task 160 by accessing the message queue 172 of the data relay unit 170-1 (symbol 86).

That is, the data relay unit 170-2 receives data output by the second process execution unit 142 executing the event-driven program 126 (reference number 82), and transmits the received data to the data relay unit 170-1 (reference number 84). The data relay unit 170-1 stores the data from the data relay unit 170-2 in the message queue 172 so that the first process execution unit 132 executing the time-driven program 125 can access the data from the data relay unit 170-2 (reference number 86).

The event-driven task 160 does not need to wait until the time-driven task 150 retrieves the results, and can complete processing at any time. In addition, the time-driven task 150 can retrieve the results output by the event-driven task 160 at any time.

As a result, the event-driven task 160 can be executed faster and/or more frequently (symbol 54). In this case, the results output each time the event-driven task 160 is executed are stored sequentially in the message queue 172 of the data relay unit 170-2, and then sequentially in the message queue 172 of the data relay unit 170-1.

By designing the data size (buffer capacity) of the message queue 172 according to the execution frequency of the event-driven task 160, the time-driven task 150 can optionally incorporate all or part of the results output by the event-driven task 160 (symbols 56 and 86).

As described above, the message queue 171 owned by each of the data relay units 170-1 and 170-2 stores data output by the first process execution unit 132. Meanwhile, the message queue 172 owned by each of the data relay units 170-1 and 170-2 stores data output by the second process execution unit 142. Then, when data is stored in the message queue 171, the data relay unit 170-1 reflects the stored data in the message queue 171 of the data relay unit 170-2 (reference number 74). Similarly, when data is stored in the message queue 172 of the data relay unit 170-2, the data relay unit 170-2 reflects the stored data in the message queue 172 of the data relay unit 170-1 (reference number 84).

As shown in FIG. 6, the control device 100 allows data communication between the time-driven task 150 and the event-driven task 160 to be loosely coupled. This allows the event-driven task 160 to execute without being limited by the execution timing of the time-driven task 150.

In addition, the control device 100 allows the time-driven program 125 (mainly for control of industrial systems) and the event-driven program 126 (mainly for control of information systems) to coexist and work together.

<E. An example of an industrial system>
Next, an example of the industrial system 1 including the control device 100 according to the present embodiment will be described.

Figure 7 is a schematic diagram showing an example of an industrial system 1 including a control device 100 according to the present embodiment. Referring to Figure 7, the industrial system 1 includes a conveyor 4 that transports a workpiece 6. A camera 22 captures an image of the transported workpiece 6, and the coordinates (position) of the workpiece 6 are calculated based on the captured image. During the image capture, the workpiece 6 is illuminated by a flash 24. A robot 20 picks up the workpiece 6 based on the calculated coordinates.

In the example configuration shown in FIG. 7, a time-driven task 150 executed by the first control unit 130 is responsible for controlling the robot 20, and an event-driven task 160 executed by the second control unit 140 is responsible for controlling the camera 22 and the flash 24.

For example, the event-driven task 160 includes processes such as turning on the flash 24, capturing an image with the camera 22 a predetermined time after the flash is turned on, and processing the captured image (calculating the coordinates of the workpiece 6). The time-driven task 150 includes processes such as controlling the hand position of the robot 20, calculating the path along which the robot 20 will move, and controlling the arm position of the robot 20.

The control device 100 according to this embodiment can execute the event-driven task 160 without being limited by the execution period of the time-driven task 150. As a result, it becomes possible to image the workpiece 6 in a time shorter than the execution period of the time-driven task 150. By imaging the workpiece 6 more frequently, the coordinates of the workpiece 6 can be calculated more accurately, and control precision can be improved.

At this time, the coordinates of the work 6 calculated by the event-driven task 160 are output to the data relay unit 170. The time-driven task 150 retrieves the coordinates held by the data relay unit 170 at any timing.

F. Modifications
In the above description, a configuration example has been described in which a single control device 100 executes the time-driven task 150 and the event-driven task 160 (see FIG. 3). The time-driven task 150 and the event-driven task 160 may be executed by different control devices 100, respectively.

FIG. 8 is a schematic diagram showing another example of the configuration of a control system according to the present embodiment. Referring to FIG. 8, the control system includes a control device 100-1 that executes a time-driven task 150, and a control device 100-2 that executes an event-driven task 160. The control devices 100-1 and 100-2 are connected via an industrial network 2.

The functional configuration of the control device 100-1 is similar to that of the first control unit 130 shown in FIG. 3, and the functional configuration of the control device 100-2 is similar to that of the second control unit 140 shown in FIG. 3. In the configuration example shown in FIG. 8, the first process execution unit 132 is included in the control device 100-1, and the second process execution unit 142 is included in the control device 100-2.

Furthermore, without being limited to the configuration examples shown in Figures 3 and 8, there may be multiple control units and/or control devices that execute the time-driven task 150, and there may be multiple control units and/or control devices that execute the event-driven task 160.

As a result, even when data communication is performed between three or more control units and/or control devices, similar processing can be achieved by employing the data relay unit 170 described above.

In this specification, the term "control system" includes a configuration consisting of one or more control devices. That is, as shown in FIG. 3, in an example configuration in which a single control device 100 executes a time-driven task 150 and an event-driven task 160, the single control device 100 corresponds to a control system. Also, as shown in FIG. 8, in an example configuration in which multiple control devices 100 are included, the multiple control devices 100 correspond to a control system.

<G. Notes>
The present embodiment as described above includes the following technical idea.

[Configuration 1]
a first processing execution unit (132) that executes a first program (125) at predetermined intervals;
a second processing execution unit (142) that executes the second program (126) every time a predetermined condition is satisfied;
A communication path (182; 2) used for data communication;
a first data relay unit (170-1) disposed between the first process execution unit and the communication path;
a second data relay unit (170-2) disposed between the second processing execution unit and the communication path;
The second data relay unit receives the data output by the second process execution unit and transmits the received data to the first data relay unit (82, 84);
The first data relay unit stores (84, 86) data from the second data relay unit such that the first process execution unit can access the data from the second data relay unit.

[Configuration 2]
The first data relay unit receives data output by the first process execution unit and transmits the received data to the second data relay unit (72, 74);
2. The control system of claim 1, wherein the second data relay unit stores (74, 76) data from the first data relay unit so that the second process execution unit can access the data from the first data relay unit.

[Configuration 3]
The control system of configuration 2, wherein each of the first data relay unit and the second data relay unit includes a first message queue (171) for storing data output by the first processing execution unit, and a second message queue (172) for storing data output by the second processing execution unit.

[Configuration 4]
When data is stored in the first message queue, the first data relay unit reflects the stored data in the first message queue of the second data relay unit (74);
The control system according to configuration 3, wherein when data is stored in the second message queue, the second data relay unit reflects the stored data in the second message queue of the first data relay unit (84).

[Configuration 5]
The control system according to any one of configurations 1 to 4, wherein each of the first data relay unit and the second data relay unit is communication middleware.

[Configuration 6]
6. The control system of configuration 5, wherein each of the first data relay unit and the second data relay unit utilizes a driver (124) that is responsible for data communication over the communication path.

[Configuration 7]
The control system according to any one of configurations 1 to 4, wherein the first processing execution unit and the second processing execution unit are included in a single control device (100).

[Configuration 8]
The first processing execution unit is included in a first control device (100-1),
The control system according to any one of configurations 1 to 4, wherein the second processing execution unit is included in a second control device (100-2).

[Configuration 9]
A step in which a first processing execution unit (132) executes a first program (125) at predetermined intervals;
A step in which a second processing execution unit (142) executes a second program (126) every time a predetermined condition is satisfied;
a step (82, 84) in which a second data relay unit (170-2) arranged between the second processing execution unit and a communication path (182; 2) receives data output by the second processing execution unit, and transmits the received data to a first data relay unit (170-1) arranged between the first processing execution unit and the communication path;
and a step (84, 86) of the first data relay unit storing data from the second data relay unit such that the first processing execution unit can access the data from the second data relay unit.

[Configuration 10]
A computer (100)
A step of configuring a data relay unit (182) connected to a communication path (182; 2) used for data communication between a first processing execution unit (132) that executes a first program (125) at predetermined intervals and a second processing execution unit (142) that executes a second program (126) at predetermined intervals;
receiving data output by the first processing execution unit and transmitting the received data to another data relay unit (72, 74; 82, 84);
receiving data output by the second process execution unit and transmitting the received data to the other data relay unit (74; 84).

The embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is indicated by the claims, not by the above description, and is intended to include all modifications within the meaning and scope of the claims.

1 Industrial system, 2 Industrial network, 4 Conveyor, 6 Work, 10 Device group, 12 Remote I/O device, 14 Relay group, 16 Servo driver, 18 Servo motor, 20 Robot, 22 Camera, 24 Flash, 60 Event, 100 Control device, 102 Processor, 104 Main memory device, 106 Input unit, 108 Output unit, 110, 112 Network controller, 120 Storage, 121 OS, 122 Hypervisor program, 123 Deployment manager program, 124 Driver, 125 Time-driven program, 126 Event-driven program, 127 Data relay program, 130 First control unit, 132 First processing execution unit, 140 Second control unit, 142 Second processing execution unit, 150 Time-driven task, 151 Calculation processing, 152 Output processing, 153 Input processing, 160 Event-driven task, 170 Data relay unit, 171, 172 message queue, 173, 174 interface, 180 hypervisor, 182 virtual internal bus.

Claims (10)

a first process execution unit that executes a first program at predetermined intervals;
a second process execution unit that executes the second program every time a predetermined condition is satisfied;
A communication path used for data communication;
a first data relay unit disposed between the first process execution unit and the communication path;
a second data relay unit disposed between the second process execution unit and the communication path;
The second data relay unit receives data output by the second processing execution unit and transmits the received data to the first data relay unit;
The first data relay unit stores the data from the second data relay unit so that the first process execution unit can access the data from the second data relay unit. The first data relay unit receives data output by the first process execution unit and transmits the received data to the second data relay unit;
The control system according to claim 1 , wherein the second data relay unit stores the data from the first data relay unit so that the second process execution unit can access the data from the first data relay unit. The control system according to claim 2, wherein each of the first data relay unit and the second data relay unit includes a first message queue for storing data output by the first process execution unit and a second message queue for storing data output by the second process execution unit. when data is stored in the first message queue, the first data relay unit reflects the stored data in the first message queue of the second data relay unit;
The control system according to claim 3 , wherein when data is stored in the second message queue, the second data relay unit reflects the stored data in the second message queue of the first data relay unit. The control system according to any one of claims 1 to 4, wherein each of the first data relay unit and the second data relay unit is a communication middleware. The control system according to claim 5, wherein each of the first data relay unit and the second data relay unit uses a driver that is responsible for data communication via the communication path. The control system according to any one of claims 1 to 4, wherein the first process execution unit and the second process execution unit are included in a single control device. The first process execution unit is included in a first control device,
The control system according to any one of claims 1 to 4, wherein the second process execution unit is included in a second control device. A step in which a first process execution unit executes a first program at predetermined intervals;
a step of a second process execution unit executing the second program every time a predetermined condition is satisfied;
a second data relay unit disposed between the second processing execution unit and a communication path receiving data output by the second processing execution unit, and transmitting the received data to a first data relay unit disposed between the first processing execution unit and a communication path;
the first data relay unit storing the data from the second data relay unit so that the first processing execution unit can access the data from the second data relay unit. On the computer,
configuring a data relay unit connected to a communication path used for data communication between a first processing execution unit that executes a first program at predetermined intervals and a second processing execution unit that executes a second program at predetermined intervals;
receiving data output by the first process execution unit and transmitting the received data to another data relay unit;
receiving data output by the second process execution unit and transmitting the received data to the other data relay unit.

Images