JP6094196B2 - Information processing apparatus, information processing program, and information processing method - Google Patents

Description

  The present invention relates to an information processing apparatus, an information processing program, and an information processing method for determining parameters and the like for a control system that controls operations of machines and equipment.

  Machines and equipment used in many production sites are typically controlled by a control system including a control device including a programmable controller (hereinafter also referred to as “PLC”). In such a control system, the PLC includes a CPU (Central Processing Unit) unit and an IO (Input Output) unit responsible for signal input from an external switch or sensor and / or signal output to an external relay or actuator. Functional units. The PLC may be connected to a plurality of remote IO terminals via a network. Each such remote IO terminal includes a communication coupler and one or more functional units.

  Such communication between the PLC and the plurality of remote IO terminals may be realized by using a polling method by causing the PLC to function as a master for managing the entire communication. For example, Japanese Patent Application Laid-Open No. 2007-312043 (Patent Document 1) discloses two types of communication methods, ie, a simultaneous broadcast method and a polling method, as master / slave communication in a remote IO system. The broadcast method is a communication method in which the master station transmits to all slave stations at the same time. The polling method specifies identification information such as the address of the slave station to which the master station is targeted, and the target slave. This is a communication method in which a station is designated and transmitted.

JP 2007-312043 A

  For example, when some control is performed on the same control target, it is preferable to synchronize between a plurality of state values acquired from the control target. That is, it is preferable that each state value is acquired from the control target at the same timing, and a command value for the control target is calculated based on the acquired state value.

  On the other hand, since a transmission delay occurs between remote IO terminals connected to the network, it is not easy to synchronize state values acquired from different remote IO terminals. For example, in a communication method in which data frames are sequentially transferred and data is exchanged with each remote IO terminal, the arrival timing of the data frame differs between remote IO terminals. Therefore, it is necessary to adjust the timing of acquisition of state values (input refresh) and output of command values (output refresh) for each remote IO terminal according to the arrival timing of each.

  Conventionally, there is no means for automatically adjusting the timing for each remote IO terminal, and adjustments have to be made by trial and error. For this reason, there is a problem that only a skilled engineer can make adjustments.

  The present invention has been made in view of the above points, and its purpose is to facilitate synchronization timing in a control system including a master device and one or more slave devices connected via a network. It is to provide an environment that can be determined.

  According to an aspect of the present invention, an information processing apparatus for determining parameters is provided for a control system including a master device and one or more slave devices connected to the master device via a network. Is done. The slave device includes a functional unit for exchanging signals with the control target. The information processing apparatus includes: means for acquiring a communication cycle in the master apparatus; means for acquiring an expected time required for completion of reception by the slave apparatus of a data frame transmitted from the master apparatus via the network; Means for obtaining an expected time required from completion of reception of a data frame from the master device to completion of transfer of data contained in the received data frame to a functional unit included in the slave device; In the device, included in the slave device based on the means for obtaining the expected time required for the functional unit to obtain the state value obtained from the control target and ready for transmission via the network, and the obtained communication cycle and expected time. To obtain the status value from the control target That includes timing and, to the functional units included in the master device, and means for determining a timing for outputting the data contained in the received data frame on the control target.

  Preferably, the information processing apparatus further includes holding means for holding a profile indicating the unique parameter of each functional unit. The expected time is obtained with reference to the profile.

  More preferably, the information processing device further includes means for providing a user interface for designing a master device and a slave device included in the control system. The holding means further holds configuration information defining a control system designed via the user interface, and the expected time is determined based on a design value defined by the configuration information.

  More preferably, the maximum value in the control system defined by the configuration information is adopted as the expected time.

  Preferably, the timing for instructing acquisition of the state value from the control target and the received data frame with reference to the reference timing at which preparation for outputting the data transmitted from the master device is completed in all slave devices The timing for outputting data to the controlled object is determined.

  According to another aspect of the present invention, a process for determining a parameter is performed on a computer for a control system including a master device and one or more slave devices connected to the master device via a network. An information processing program to be executed is provided. The slave device includes a functional unit for exchanging signals with the control target. The information processing program includes, in the computer, obtaining a communication cycle in the master device, obtaining an expected time required for completing reception by the slave device of the data frame transmitted from the master device via the network, In the slave device, a step of obtaining an expected time required from completion of reception of the data frame from the master device to completion of transfer of data included in the received data frame to a functional unit included in the slave device In the slave device, the step of acquiring the expected time required for the functional unit to acquire the state value acquired from the control target through the network, and the slave based on the acquired communication cycle and the estimated time. In the functional unit included in the device Determining timing for instructing acquisition of the state value from the control target, and timing for outputting the data included in the received data frame to the control target for the functional unit included in the master device; Is executed.

  According to still another aspect of the present invention, an information processing method for determining parameters for a control system including a master device and one or more slave devices connected to the master device via a network. Is provided. The slave device includes a functional unit for exchanging signals with the control target. The information processing method includes a step of obtaining a communication cycle in the master device, a step of obtaining an expected time required for the slave device to complete reception of a data frame transmitted from the master device via the network, and a slave device A step of acquiring an expected time required from completion of reception of a data frame from the master device to completion of transfer of data included in the received data frame to a functional unit included in the slave device; Included in the slave device based on the step of obtaining the expected time required for the functional unit to be able to transmit the state value obtained from the control target via the network, and the obtained communication cycle and expected time in the device Status of the functional unit The timing for instructing the acquisition of the values, and provided to the functional units included in the master device, and determining the timing for outputting the data contained in the received data frame on the control target.

  ADVANTAGE OF THE INVENTION According to this invention, the environment which can determine easily the synchronous timing in a control system provided with the master apparatus and the 1 or several slave apparatus connected via a network can be provided.

It is a schematic diagram which shows the structural example of the control system which concerns on this Embodiment. It is a schematic diagram which shows the connection structure of the remote IO terminal which concerns on this Embodiment. It is a schematic diagram which shows the hardware constitutions of the communication coupler which comprises the remote IO terminal which concerns on this Embodiment. It is a schematic diagram which shows the hardware constitutions of the functional unit of the remote IO terminal which concerns on this Embodiment. It is a schematic diagram which shows the connection structure of PLC which concerns on this Embodiment. It is a schematic diagram which shows the hardware constitutions of CPU unit which comprises PLC which concerns on this Embodiment. It is a schematic diagram which shows the hardware constitutions of the support apparatus connected to PLC which concerns on this Embodiment. It is a figure for demonstrating the synchronous process in the control system which concerns on this Embodiment. It is a figure for demonstrating the synchronous process in the control system which concerns on this Embodiment. It is a figure for demonstrating the time which the input process in the control system concerning this Embodiment requires. It is a figure for demonstrating the time which the output process in the control system concerning this Embodiment requires. It is a figure which shows the list of the parameters used for the automatic calculation process of the synchronous parameter which concerns on this Embodiment. It is a figure for demonstrating each parameter shown by FIG. It is a figure which shows an example of the data structure of the device profile stored in the support apparatus connected to PLC which concerns on this Embodiment. It is a figure which shows an example of the user interface screen provided by the support apparatus connected to PLC which concerns on this Embodiment. It is a figure which shows an example of the user interface screen provided by the support apparatus connected to PLC which concerns on this Embodiment. It is a flowchart which shows the process sequence of the synchronous parameter automatic calculation which concerns on this Embodiment.

  Embodiments of the present invention will be described in detail with reference to the drawings. In addition, about the same or equivalent part in a figure, the same code | symbol is attached | subjected and the description is not repeated.

<A. Example of control system configuration>
First, a configuration example of the control system according to the present embodiment will be described. FIG. 1 is a schematic diagram illustrating a configuration example of a control system according to the present embodiment. Referring to FIG. 1, control system SYS includes a PLC 1 and a servo driver 3 and a remote IO terminal 5 connected to PLC 1 via a field network 2 that is a host communication network. A support device 8 is connected to the PLC 1 via a connection cable 10 or the like.

  The PLC 1 includes a CPU unit 12 that executes main arithmetic processing and one or more functional units 14. These functional units 14 are configured to exchange data with each other via the PLC internal bus 11. The functional unit 14 is supplied with power of an appropriate voltage by the power supply unit 16. Such a functional unit 14 includes an IO unit and a special unit.

  The IO unit is a unit related to general input / output processing, and controls input / output of binarized data such as on / off. That is, the IO unit collects information indicating whether the sensor such as the detection switch 6 is in a state where any object is detected (ON) or in a state where no object is detected (OFF). Further, the IO unit outputs either a command for activation (ON) or a command for inactivation (OFF) to an output destination such as the relay 7 or the actuator.

  The special unit has functions not supported by the IO unit, such as input / output of analog data, temperature control, and communication using a specific communication method.

  The field network 2 transmits various data exchanged with the CPU unit 12. As the field network 2, various types of industrial Ethernet (registered trademark) can be used. Examples of the industrial Ethernet (registered trademark) include EtherCAT (registered trademark), PROFINET (registered trademark), MECHATROLINK (registered trademark) -III, Powerlink, SERCOS (registered trademark) -III, and CIP Motion. Further, a field network other than industrial Ethernet (registered trademark) may be used. For example, DeviceNet, CompoNet (registered trademark), or the like may be used.

  In this embodiment, as an example, data is exchanged with the PLC 1 by sequentially transferring data frames on the field network 2. In the following description, a data frame on the field network 2 is also referred to as a “field network frame” in order to distinguish it from a data frame propagating on the internal bus.

  The servo driver 3 is connected to the CPU unit 12 via the field network 2 and drives the servo motor 4 according to a command value from the CPU unit 12.

  One or more remote IO terminals 5 are further connected to the field network 2 of the control system SYS shown in FIG. As with the functional unit 14, the remote IO terminal 5 performs processing related to general input / output processing. More specifically, the remote IO terminal 5 includes a communication coupler 52 for performing processing related to data transmission in the field network 2 and one or more functional units 54 (including IO units and special units). . That is, the remote IO terminal 5 includes a functional unit 54 for exchanging signals with the control target. These functional units 54 are configured to exchange data with each other via the remote IO terminal internal bus 51.

  The communication coupler 52 controls the operation of the functional unit 54 and controls data transmission with the CPU unit 12. The communication coupler 52 is connected to the CPU unit 12 of the PLC 1 via the field network 2.

  In the remote IO terminal 5, the communication coupler 52 mainly manages data transmission via the remote IO terminal internal bus 51 with the functional unit 54 (IO unit or special unit) to be mounted. Similarly, in the PLC 1, the CPU unit 12 mainly manages data transmission via the PLC internal bus 11 with the functional unit 14 (IO unit or special unit) to be mounted.

  In the following description, the PLC 1 (more specifically, the CPU unit 12) mainly manages data transmission via the field network 2, and therefore, these are also referred to as “master devices” by paying attention to their functions. The other remote IO terminals 5 (more specifically, the communication coupler 52) are also referred to as “slave devices”. That is, the control system SYS includes a master device (PLC1) and one or more slave devices (such as the remote IO terminal 5 and the servo driver 3) connected to the master device via a network.

<B. Example of hardware configuration of remote IO terminal 5>
Next, a hardware configuration of the remote IO terminal 5 that constitutes a part of the control system SYS according to the present embodiment will be described.

(B1. Connection configuration)
FIG. 2 is a schematic diagram showing a connection configuration of the remote IO terminal 5 according to the present embodiment. Referring to FIG. 2, in remote IO terminal 5, one or more functional units 54-1, 54-2, 54-3, ... are remote IO terminal internal bus 51 (downlink 511 and uplink) that are communication lines. 512), data communication with the communication coupler 52 is possible.

  As an example, the downlink 511 and the uplink 512 employ serial communication, and the target data propagates in a form arranged in a line in time series. More specifically, in the downlink 511, data is transmitted in one direction via the downlink 511 from the communication coupler 52 to the functional unit 54. On the other hand, on the uplink 512, data is transmitted in one direction via the uplink 512 from one of the functional units 54 to the communication coupler 52.

  When each of the functional units 54 receives a data frame propagating in the downlink 511 or the uplink 512, the functional unit 54 decodes data from the data frame and performs necessary processing. Each functional unit 54 regenerates the data frame and then retransmits (forwards) the data frame to the next functional unit 54. In the following description, in order to distinguish from a data frame propagating on the field network 2, a data frame including a state value to be output from the functional unit 54 is also referred to as an “internal bus OUT frame” and is detected by the functional unit 54. A data frame including a status value is also referred to as an “internal bus IN frame”. Basically, the “internal bus OUT frame” propagates on the downlink 511, and the “internal bus IN frame” propagates on the uplink 512. The “internal bus OUT frame” and the “internal bus IN frame” may be collectively referred to as “internal bus frame”.

  In order to realize such sequential transfer of data frames, each functional unit 54, regarding the downlink 511, receives a receiving unit (hereinafter also referred to as “RX”) 210a and a transmitting unit (hereinafter also referred to as “TX”) 210b. In addition, the uplink unit 512 includes a reception unit 220a and a transmission unit 220b. The receiving units 210a and 220a receive the data included in the internal bus frame from the other functional units 54 via the remote IO terminal internal bus 51 which is a communication line. The transmission units 210b and 220b transmit internal bus frames including data to other functional units 54 via the remote IO terminal internal bus 51 which is a communication line.

  Each functional unit 54 includes a processor 200, and the processor 200 controls these data processes.

  The communication coupler 52 includes a processor 100 that is a computation subject, a fieldbus control unit 110, a reception unit 112, a transmission unit 114, and an internal bus control unit 130. That is, the communication coupler 52 is connected not only to the remote IO terminal internal bus 51 (downlink 511 and uplink 512) but also to the field network 2 via the reception unit 112 and the transmission unit 114. The field bus control unit 110 manages data transmission via the field network 2, and the internal bus control unit 130 manages data transmission via the remote IO terminal internal bus 51.

(B2. Configuration of communication coupler 52)
FIG. 3 is a schematic diagram showing a hardware configuration of the communication coupler 52 constituting the remote IO terminal 5 according to the present embodiment. Referring to FIG. 3, the communication coupler 52 of the remote IO terminal 5 includes a processor 100, a nonvolatile memory 101, a field bus control unit 110, a reception unit 112, a transmission unit 114, and an internal bus control unit 130. including.

  The receiving unit 112 receives a field network frame transmitted from the PLC 1 via the field network 2, decodes it into data, and outputs the data to the fieldbus control unit 110. The transmission unit 114 regenerates a field network frame from the data output from the fieldbus control unit 110 and retransmits (forwards) it through the field network 2.

  The fieldbus control unit 110 transmits and receives field network frames at predetermined transmission periods via the field network 2 in cooperation with the reception unit 112 and the transmission unit 114. More specifically, the fieldbus control unit 110 includes a fieldbus communication controller 120, a memory controller 122, a FIFO (First In First Out) memory 124, a reception buffer 126, and a transmission buffer 128.

  The fieldbus communication controller 120 interprets a command or the like transmitted from the PLC 1 via the field network 2 and executes processing necessary for realizing communication via the field network 2. In addition, the fieldbus communication controller 120 performs data copy processing from the field network frame sequentially stored in the FIFO memory 124 and data write processing to the field network frame.

  The memory controller 122 is a control circuit that realizes a function such as DMA (Direct Memory Access), and controls writing / reading of data to / from the FIFO memory 124, the reception buffer 126, the transmission buffer 128, and the like.

  The FIFO memory 124 temporarily stores field network frames received via the field network 2 and sequentially outputs the field network frames according to the stored order. The reception buffer 126 temporarily extracts the data indicating the state value to be output from the output unit of the functional unit 54 connected to its own device from the data included in the field network frame sequentially stored in the FIFO memory 124. To store. The transmission buffer 128 temporarily stores data to be written in a predetermined area of the field network frame sequentially stored in the FIFO memory 124, which is process data indicating the state value detected at the input unit of the functional unit 54. .

  The processor 100 gives an instruction to the field bus control unit 110 and the internal bus control unit 130 and controls data transfer between the field bus control unit 110 and the internal bus control unit 130.

  The nonvolatile memory 101 stores a system program 102 and configuration information 104. The configuration information 104 includes setting information for the functional unit 54.

  The internal bus control unit 130 transmits / receives internal bus frames (data) to / from the functional unit 54 via the remote IO terminal internal bus 51 (downlink 511 and uplink 512).

  More specifically, the internal bus control unit 130 includes an internal bus communication controller 132, a transmission circuit 142, a reception circuit 144, and a storage unit 160.

  The internal bus communication controller 132 mainly manages data transmission via the remote IO terminal internal bus 51. The transmission circuit 142 generates and transmits an internal bus frame that flows on the downlink of the remote IO terminal internal bus 51 in accordance with an instruction from the internal bus communication controller 132. The reception circuit 144 receives an internal bus frame that flows on the uplink of the remote IO terminal internal bus 51 and outputs it to the internal bus communication controller 132.

  The storage unit 160 corresponds to a buffer memory that stores an internal bus frame (data) that propagates through the remote IO terminal internal bus 51. More specifically, the storage unit 160 includes a shared memory 162, a reception buffer 164, and a transmission buffer 166. Shared memory 162 temporarily stores internal bus frames exchanged between fieldbus control unit 110 and internal bus control unit 130. The reception buffer 164 temporarily stores the internal bus frame received from the functional unit 54 via the remote IO terminal internal bus 51. The transmission buffer 166 temporarily stores data included in the field network frame received by the fieldbus control unit 110.

(B3. Configuration of functional unit 54)
FIG. 4 is a schematic diagram showing a hardware configuration of the functional unit 54 of the remote IO terminal 5 according to the present embodiment. FIG. 4 shows an IO unit as an example of the functional unit 54. 4, each of the functional units 54 of the remote IO terminal 5 includes an inverse serial converter (de-serializer: hereinafter also referred to as “DES”) 212, 222 and a serial converter (SER: serializer: hereinafter). Also referred to as “SER”.) 216, 226 and forward controllers 214, 224. In addition, each of the functional units 54 includes a reception processing unit 230, a transmission processing unit 240, a processor 200, a shared memory 202, an IO module 206, and a memory 207 that are connected to each other via a bus 250. .

  The DES 212, the forward controller 214, and the SER 216 correspond to the reception unit 210a and the transmission unit 210b for the downlink 511 illustrated in FIG. These parts execute processing related to transmission / reception of an internal bus frame flowing in the downlink 511. Similarly, the DES 222, the forward controller 224, and the SER 226 correspond to the reception unit 220a and the transmission unit 220b for the uplink 512 illustrated in FIG. These portions execute processing related to transmission / reception of an internal bus frame flowing through the uplink 512.

  The reception processing unit 230 includes a decoding unit 232 and a CRC check unit 234. The decoding unit 232 decodes the received data frame into data according to a predetermined algorithm. The CRC check unit 234 performs an error check (for example, a CRC (Cyclic Redundancy Check) code) based on a frame check sequence (FCS) added at the end of the data frame.

  The transmission processing unit 240 is connected to the forward controllers 214 and 224, and performs generation and timing control of an internal bus frame to be retransmitted (forwarded) to the next functional unit 54 in accordance with an instruction from the processor 200 or the like. In addition, the transmission processing unit 240 generates data to be transmitted to the next functional unit 54 in cooperation with the processor 200 and the like. More specifically, the transmission processing unit 240 includes a CRC generation unit 242 and an encoding unit 244. The CRC generation unit 242 calculates an error control code (CRC) for data from the processor 200 or the like, and adds it to an internal bus frame that stores the data. The encoding unit 244 encodes the data from the CRC generation unit 242 and outputs the encoded data to the corresponding forward controller 214 or 224.

  The processor 200 is an arithmetic entity that mainly controls the functional unit 54. More specifically, the processor 200 stores the data frame received via the reception processing unit 230 in the shared memory 202, or reads predetermined data from the shared memory 202 and outputs the data to the transmission processing unit 240. Generate a bus frame.

  The shared memory 202 temporarily stores the reception buffer 203 for temporarily storing the internal bus frame received via the reception processing unit 230 and the internal bus frame for transmission via the transmission processing unit 240. A transmission buffer 204. The shared memory 202 includes an area for storing various data.

  The IO module 206 receives an input signal from an external switch or sensor, writes the value to the shared memory 202, and / or externally outputs the signal according to the value written in the corresponding area of the shared memory 202. Output to the relay or actuator.

  The memory 207 stores a system program 209 and setting information 208. Typically, the system program 209 is stored in a non-volatile area of the memory 207, and the setting information 208 is stored in a volatile area of the memory 207.

<C. Example of PLC 1 hardware configuration>
Next, the hardware configuration of the PLC 1 that constitutes a part of the control system SYS according to the present embodiment will be described.

(C1. Connection configuration)
FIG. 5 is a schematic diagram showing a connection configuration of the PLC 1 according to the present embodiment. Referring to FIG. 5, in PLC 1 as well as the above-described remote IO terminal 5, the CPU unit 12 and one or more functional units 14-1, 14-2, 14-3,. Data can be transmitted to each other via the internal bus 11 (downlink 611 and uplink 612).

  When each of the functional units 14 receives an internal bus frame propagating in the downlink 611 or the uplink 612, the functional unit 14 decodes data from the internal bus frame and executes necessary processing. Each functional unit 14 regenerates the internal bus frame and then retransmits (forwards) it to the next functional unit 14. Each functional unit 14 includes a receiving unit (RX) 210a and a transmitting unit (TX) 210b for the downlink 611, and includes a receiving unit 220a and a transmitting unit 220b for the uplink 612.

  The CPU unit 12 includes a processor 150, a field bus control unit 110, a reception unit 112, a transmission unit 114, and an internal bus control unit 130.

(C2. Configuration of Communication Coupler 52)
FIG. 6 is a schematic diagram showing a hardware configuration of the CPU unit 12 constituting the PLC 1 according to the present embodiment. Referring to FIG. 6, the CPU unit 12 of the PLC 1 includes a processor 150, a main memory 152, a nonvolatile memory 154, a field bus control unit 110, a reception unit 112, a transmission unit 114, and an internal bus control unit. 130. The nonvolatile memory 154 stores a user program 156, a system program 158, and configuration information 104. Since the basic configuration related to data transmission of CPU unit 12 is the same as that of communication coupler 52 (FIG. 3) described above, the description of corresponding portions (denoted by the same reference numerals) will not be repeated.

  The processor 150 of the CPU unit 12 executes a program for realizing target control. More specifically, the CPU unit 12 reads the user program 156 and the system program 158 from the non-volatile memory 154 and the like, and develops and executes them in the main memory 152. By executing the user program 156 and the system program 158, state values to be output from the output unit of the functional unit 14 are sequentially calculated based on the state values detected by the input unit of the functional unit 14.

  Since the configuration of functional unit 14 of PLC 1 is the same as the configuration of functional unit 54 of remote IO terminal 5 described above (see FIG. 4), detailed description will not be repeated.

<D. Support Device 8>
Next, the support device 8 connected to the PLC 1 according to the present embodiment will be described. The support device 8 corresponds to an information processing device for determining parameters for the control system SYS.

  FIG. 7 is a schematic diagram showing a hardware configuration of the support device 8 connected to the PLC 1 according to the present embodiment. The support device 8 is typically composed of a general-purpose computer.

  Referring to FIG. 7, the support device 8 includes a CPU 81 that executes various programs including an OS (Operating System), a ROM (Read Only Memory) 82 that stores a basic input output system (BIOS) and various data, and a CPU 81. A memory RAM 83 that provides a work area for storing data necessary for execution of the program, and a hard disk (HDD) 84 that stores the program executed by the CPU 81 in a nonvolatile manner. The hard disk 84 stores a tool program 841, configuration information 842, and a device profile 843.

  The support device 8 further includes a keyboard 85 and a mouse 86 that accept operations from the user, and a display 87 for presenting information to the user. Further, the support device 8 includes a communication interface (IF) for communicating with the PLC 1 (CPU unit 12) and the like.

  As will be described later, the tool program 841 executed by the support device 8 is stored in a CD-ROM (Compact Disk-Read Only Memory) 9 and distributed. The program stored in the CD-ROM 9 is read by the CD-ROM driving device 88 and stored in the hard disk 84 or the like. Alternatively, the program may be downloaded from a host computer or the like via a network.

<E. Overview of automatic calculation processing of synchronization parameters>
Next, the outline of the automatic calculation process of the synchronization parameter implemented in the support device 8 according to the present embodiment will be described. 8 and 9 are diagrams for explaining the synchronization processing in the control system SYS according to the present embodiment.

  In the remote IO terminal 5 which is a slave device according to the present embodiment, the communication coupler 52 acquires the state value from each functional unit 54 and the acquired state in the field network frame sequentially transmitted in the field network 2 Add data indicating the value. Further, the communication coupler 52 acquires data indicating a command value from the arrived field network frame, and gives the acquired command value to each functional unit 54. That is, the data update process between the communication coupler 52 and the functional unit 54 via the remote IO terminal internal bus 51 and the data update process via the field network 2 between the CPU unit 12 and the communication coupler 52 are parallel. Is executed automatically.

  In the present embodiment, synchronization parameters for executing these data update processes at appropriate timing are automatically calculated.

  More specifically, the timing at which the state value is acquired from the control target is matched between the functional units 54. The timing at which this state value is acquired is also referred to as “IN data latch synchronization timing”. The IN data latch means that the value of the signal input to the functional unit 54 is acquired at a certain timing.

  As described above, the remote IO terminal 5 and the servo driver 3 (slave device) connected via the field network 2 exchange data with each other via the field network frame. Each slave device needs to perform IN data latching before the arrival of the field network frame in each transmission cycle. Since the field network frames are sequentially transferred, the arrival timing of the field network frame differs depending on the position on the field network 2 to be connected. That is, a transmission delay occurs in the field network frame.

  Therefore, the IN data latch synchronization timing is determined in consideration of a transmission delay occurring in the field network frame and a delay time related to input processing in each functional unit.

  Moreover, in this Embodiment, the command value given to a control object between the functional units 54 is updated (when it expresses strictly, the timing which updates are completed) is made to correspond. The timing for updating the command value is also referred to as “OUT data output synchronization timing”. The timing at which the output of the command value is started before the “OUT data output synchronization timing” and the command unit is ready to output the command values all at once is also referred to as “system time synchronization timing”. That is, in “system time synchronization timing”, it is necessary that data (OUT data) to be output is given to all functional units. This “system time synchronization timing” is included in the field network frame. It is determined in consideration of the transmission delay that occurs and the transmission delay that occurs in the internal bus frame.

  In summary, the support device 8 completes the reception by the remote IO terminal 5 (slave device) of the means for acquiring the communication period in the PLC 1 (master device) and the data frame transmitted from the master device via the field network 2. Means for acquiring the estimated time required until the completion of the process shown in (5) of FIG. 8 and the remote IO terminal 5 after the reception of the data frame from the PLC 1 is completed. Estimated time required to complete transfer of data included in the received data frame to the functional unit 54 included in the remote IO terminal 5 (required until the processes shown in (4) and (6) of FIG. 8 are completed) In the remote IO terminal 5, the function unit Estimated time required for 54 to be able to transmit the state value acquired from the control target via the field network 2 (expected time required for completing the processes shown in (1) to (4) of FIG. 8). Timing for instructing the functional unit 54 included in the remote IO terminal 5 to acquire the state value from the control target (IN data latch synchronization timing) based on the acquisition means and the acquired communication cycle and expected time, And a means for determining a timing (OUT data output synchronization timing) at which the data included in the received data frame is output to the control target for the functional unit included in the PLC 1.

  As shown in FIG. 8, the timing (IN data latch synchronization timing) instructing the acquisition of the state value from the control target and the data included in the received data frame as the control target for the functional unit included in the PLC 1 The output timing (OUT data output synchronization timing) is determined based on the reference timing (system time synchronization timing) at which preparations for outputting data transmitted from the PLC 1 are completed in all remote IO terminals 5.

  Hereinafter, with reference to FIG. 8 and FIG. 9, processing in one communication cycle will be described in more detail.

  Referring to FIG. 8, IN data latch synchronization timing is determined as one of the reference timings. Note that the time information (or counter value) held by the CPU unit 12 that is the master device is shared among the devices connected to the field network 2, and the devices are synchronized based on the time information and the like. Can be taken.

  When the time of the IN data latch synchronization timing arrives, each of the slave devices (remote IO terminals 5) starts the IN data input latch process (the process indicated by (1) in FIGS. 8 and 9). That is, each functional unit acquires the value of an input signal (digital signal and / or analog signal). The time required for this IN data input latch processing is set in advance for the entire slave device (that is, all remote IO terminals 5 connected to the field network 2).

  As will be described later, the time required for the IN data input latch processing has the largest value among the input response delay times of the functional unit 54 included in the slave device connected to the field network 2 (reference numeral in FIG. 8). 300). Since inevitable fluctuations may occur, the time required for the IN data input latch process is determined so as to include a synchronization jitter absorption component (time indicated by (11) in FIG. 8). Here, the input response delay time includes a conversion time required for A / D (Analog to Digital) conversion.

  When the IN data input latch process is completed in each of the remote IO terminals 5, the communication coupler 52 transmits an internal bus IN trigger to each functional unit 54 via the remote IO terminal internal bus 51 (FIGS. 8 and 9). (Process shown in (2)). This internal bus IN trigger is a command for activating transmission of IN data from the functional unit 54. When the functional unit 54 receives the internal bus IN trigger, the functional unit 54 transmits the latched IN data to the communication coupler 52. That is, each functional unit 54 transmits the internal bus IN frame including the latched IN data to the communication coupler 52 via the remote IO terminal internal bus 51 (the process shown by (3) in FIGS. 8 and 9).

  When the transmission of the internal bus IN frame from all the connected functional units 54 is completed in each of the remote IO terminals 5, the communication coupler 52 starts the field network communication coupler GW (gateway) processing (FIGS. 8 and 8). 9 (4). This field network communication coupler GW process includes a process of storing the IN data received from the subordinate functional unit 54 in the transmission buffer 128 (FIG. 3) or the like. That is, when the communication coupler 52 receives the next field network frame, the communication coupler 52 prepares IN data to be added to the field network frame in advance.

  With the processes (1) to (4) above, the process of acquiring IN data from the functional unit 54 is completed.

  Subsequently, the CPU unit 12 starts transmission of a new field network frame. The field network frames are sequentially transferred on the field network 2 (the process shown in (5) of FIGS. 8 and 9). A transmission delay occurs in the field network frame propagating on the field network 2.

  In each of the remote IO terminals 5, when receiving the field network frame, the communication coupler 52 starts a field network communication coupler GW (gateway) process (a process indicated by (4) in FIGS. 8 and 9). This field network communication coupler GW process includes a process of extracting OUT data included in the received field network frame, and a process of adding IN data prepared in advance to the field network frame.

  Subsequently, in each of the remote IO terminals 5, the communication coupler 52 transmits the internal bus OUT frame to each functional unit 54 (processing shown in (6) of FIGS. 8 and 9). The internal bus OUT frame includes information indicating a command value output from each functional unit 54. When the transmission of the internal bus OUT frame is completed for all of the subordinate functional units 54, preparations for simultaneously outputting command values from the respective functional units 54 are completed.

  The system time synchronization timing is set after the timing at which preparations for simultaneously outputting command values from the respective functional units 54 are completed. That is, the system time synchronization timing is set so that the output of the command value from each functional unit 54 can be synchronized. Generally, the system time synchronization timing is determined in consideration of a synchronization jitter absorption component (time indicated by (11) in FIG. 8).

  When the time of the system time synchronization timing arrives, each of the functional units 54 included in each slave device (remote IO terminal 5) starts OUT data output processing (processing indicated by (7) in FIGS. 8 and 9). . More specifically, in each of the remote IO terminals 5, the communication coupler 52 transmits a trigger instructing output of OUT data to each functional unit 54.

  As a result, at the OUT data output synchronization timing, the command values are simultaneously output from the respective functional units 54. The OUT data output synchronization timing is determined in consideration of the output response delay time of the functional unit 54 included in the slave device connected to the field network 2 having the largest value.

  The servo driver 3 acquires the data transmitted via the field network frame at the system time synchronization timing, but the calculation for driving the servo motor 4 is executed for each unique servo cycle. That is, since the OUT data is reflected every servo cycle, it is not necessary to match the output timing of the OUT data from the servo motor 4 with the system time synchronization timing (reference numeral 308 in FIG. 8).

  In the CPU unit 12 of the PLC 1, system common processing, IO refresh processing, motion control / user program, and the like are executed in each communication cycle. The system common processing includes field network subsystem processing related to the management of the field network 2, internal bus subsystem processing related to the management of the PLC internal bus 11, and the like.

  More specifically, the CPU unit 12 performs an OUT data pack process for forming OUT data to be output to a functional unit included in the control system SYS into an appropriate data format, and performs the field data 2 and the PLC internal bus 11. (A process indicated by (9) in FIG. 8). Then, the CPU unit 12 transmits the field network frame generated by the OUT data Pack process on the field network 2 (the process indicated by (5) in FIG. 8) and the internal bus frame generated by the OUT data Pack process. Is transmitted on the PLC internal bus 11 (process indicated by (8) in FIG. 8).

  On the PLC internal bus 11, parallel data transmission is possible between the CPU unit 12 and the functional unit 14, and in parallel with the transmission of the internal bus frame to the functional unit 14, the functional unit 14. IN data is transmitted to the CPU unit 12.

  Then, the CPU unit 12 executes a process for acquiring IN data included in the received internal bus frame and field network frame, that is, an IN data Unpack process (process indicated by (10) in FIG. 8).

<F. Details of automatic calculation processing of synchronization parameters>
As described with reference to FIGS. 8 and 9, in the control system SYS according to the present embodiment, the system time synchronization timing, the OUT data output synchronization timing, and the IN data latch synchronization timing are determined within the communication cycle. Is done. As a general design method, a communication cycle is determined in advance based on a control target and processing content, and a field network frame transmission cycle is also determined in advance according to the number of remote IO terminals. That is, the respective timings are determined under given conditions such as a communication cycle and a transmission cycle. Depending on the conditions, these timings may not be determined appropriately.

  A certain amount of time is required as a system in order to match the timing for acquiring the state value from the control target among the functional units and to match the timing for updating the command value given to the control target between the functional units 54. In some cases, it is physically impossible to satisfy the above requirements. In such a case, the user may be warned to that effect.

  Hereinafter, the time required for the input process and the output process will be described, and items calculated when determining the respective timings as the entire system will be described.

(F1. Input processing)
FIG. 10 is a diagram for explaining the time required for input processing in the control system SYS according to the present embodiment. 10A schematically shows the time required for input processing in the communication coupler 52 on the field network 2, and FIG. 10B shows input processing in each functional unit 54 included in the remote IO terminal 5. The time required is schematically shown.

  As shown in FIG. 10A, an IN data latch processing time started from the IN data latch synchronization timing is considered as the time required for input processing in the communication coupler 52. This IN data latch processing time corresponds to the sum of the maximum value of the input response delay time of the functional unit 54 connected to the remote IO terminal internal bus 51 and the IN data transfer time.

  The input response delay time of the functional unit 54 includes time required for signal conversion processing and conversion processing in the IO module 206 (FIG. 4), time required for data copying from the IO module 206 to the transmission processing unit 240 (FIG. 4), and the like. . Each of the remote IO terminals 5 may be equipped with a plurality of functional units 54. In such a case, the longest value of the input response delay time of the functional unit 54 is restricted. Therefore, the maximum value is considered.

  The IN data transfer time corresponds to the time required for the field network communication coupler GW processing shown in FIGS. 8 and 9, and is the internal data via the remote IO terminal internal bus 51 of the internal bus control unit 130 (FIG. 3) of the communication coupler 52. This includes the time required to receive the bus frame, the time required to copy the data contained in the received internal bus frame to the fieldbus control unit 110 (FIG. 3), and the like.

  As shown in FIG. 10B, the input response delay time started from the IN data latch synchronization timing is considered as the time required for the input processing in the functional unit 54. This input response delay time is the same as that described with reference to FIG.

  Strictly speaking, however, there is a hard delay time before each of the functional units 54 can start input processing. As this hard delay time, there is a shift in the calculation cycle of the processor or the like constituting the functional unit 54. In addition, there is an input conversion delay time generated in the process of converting an input signal into a digital signal. Since these parameters are basically specific to the functional unit 54, values stored in advance in the device profile 843 or the like are used as will be described later.

(F2. Output processing)
FIG. 11 is a diagram for explaining the time required for output processing in the control system SYS according to the present embodiment. FIG. 11A schematically shows the time required for the output process in the communication coupler 52 on the field network 2, and FIG. 11B shows the output process in each functional unit 54 included in the remote IO terminal 5. The time required is schematically shown.

  As shown in FIG. 11A, the OUT data transfer time existing before the system time synchronization timing is considered as the time required for the output processing in the communication coupler 52. This OUT data transfer time corresponds to the time required for the field network communication coupler GW processing shown in FIGS. 8 and 9, and the field network frame via the field network 2 of the fieldbus control unit 110 (FIG. 3) of the communication coupler 52. And the time required for copying the OUT data included in the received field network frame to the internal bus control unit 130 (FIG. 3).

  The output response delay time of the functional unit 54 includes OUT data transfer time and hard delay time. The OUT data transfer time includes time required for data copying from the reception processing unit 230 (FIG. 4) to the IO module 206, time required for signal conversion processing and conversion processing in the IO module 206 (FIG. 4), and the like. The hard delay time includes a shift in a calculation cycle of a processor or the like constituting the functional unit 54, an input conversion delay time generated in a process of converting an input signal into a digital signal, and the like. Since these parameters are basically specific to the functional unit 54, values stored in advance in the device profile 843 or the like are used as will be described later.

  Each of the remote IO terminals 5 may be equipped with a plurality of functional units 54. In such a case, the longest value of the output response delay time of the functional unit 54 is restricted. Therefore, the maximum value is considered.

  As shown in FIG. 11B, the output response delay time existing before the OUT data latch synchronization timing is considered as the time required for the output processing in the functional unit 54. This output response delay time is the same as that described with reference to FIG.

(F3. Parameters used)
Next, parameters used in the automatic calculation process of synchronization parameters according to the present embodiment will be described. FIG. 12 is a diagram showing a list of parameters used for the automatic calculation process of the synchronization parameters according to the present embodiment. FIG. 13 is a diagram for explaining each parameter shown in FIG.

  Referring to FIG. 12, the following parameters are used in the automatic calculation process of the synchronization parameters according to the present embodiment. The value of each parameter is set by an input method / input path as shown in FIG.

(1) CPU unit IO refresh mode (2) Slave device valid / invalid setting (3) Communication cycle (4) Slave device OUT shift time (5) Slave device IN shift time (6) All slave device OUT data transfer time MAX
(7) All slave devices IN data input latch processing time MAX
(8) All slave device OUT data output response delay time MAX
(9) Offset time until start of all slave device IN data input processing (10) Slave device input response delay time (11) Functional unit output response delay time (12) Functional unit input conversion delay time (1) to (3 ) Are system parameters of the control system SYS. More specifically, (1) The IO refresh mode of the CPU unit indicates a processing mode in which data is updated with the functional unit. This parameter is automatically set by the user setting for each functional unit. (2) The slave device valid / invalid setting is a parameter for validating / invalidating direct data writing / reading from / to the functional unit 54 mounted on the remote IO terminal 5 from the CPU unit 12. . (3) The communication cycle indicates a basic communication cycle.

  Next, (4) slave device OUT shift time and (5) slave device IN shift time are output at each slave device (remote IO terminal 5) with reference to the system time synchronization timing as shown in FIG. The timing of processing and input processing is shown.

  Specifically, (4) the slave device OUT shift time indicates the delay time required for the output processing of each slave device and the output of each slave device between the slave devices (remote IO terminals 5) included in the control system SYS. This corresponds to the maximum value of the total time with the offset time. This output offset time includes a specific delay time related to the output processing of each slave device (or the functional unit 54 included therein). That is, (4) slave device OUT shift time indicates at what timing output processing in all slave devices is completed with reference to system time synchronization timing.

  Further, (5) the slave device IN shift time is the delay time required for input processing by each slave device and the input offset time of each slave device between the slave devices (remote IO terminal 5) included in the control system SYS. This corresponds to the maximum value of the total time. This input offset time includes a unique delay time related to input processing of each slave device (or the functional unit 54 included therein). That is, (5) slave device IN shift time indicates at what timing input processing can be started for all slave devices with reference to the system time synchronization timing.

  Next, (6) all slave device OUT data transfer time MAX and (7) all slave device IN data input latch processing time MAX are as shown in FIG. 13 between the field network frame and each functional unit. Indicates the time required for data transmission.

  Specifically, (6) the total slave device OUT data transfer time MAX is the shared memory of each slave device via the field network 2 between the slave devices (remote IO terminals 5) included in the control system SYS. This corresponds to the maximum time until data reaches 162 (FIG. 3). That is, (6) all slave device OUT data transfer time MAX indicates the time required for the output of the data included in the field network frame transmitted from the CPU unit 12 to the functional unit to be completed.

  Specifically, (7) the total slave device IN data input latch processing time MAX is the shared memory 162 (FIG. 3) of each slave device among the slave devices (remote IO terminal 5) included in the control system SYS. This corresponds to the maximum value of the time required to complete the preparation for transfer to the field network 2. That is, (7) all slave device IN data input latch processing time MAX indicates the time required from the IN data latch synchronization timing until IN data can be transmitted via the field network 2.

  Next, (8) all slave device OUT data output response delay time MAX indicates at what timing the OUT data output processing is completed with reference to the system synchronization timing as shown in FIG. More specifically, (8) All slave device OUT data output response delay time MAX is a delay time required for output processing by each slave device between slave devices (remote IO terminal 5) included in the control system SYS. Indicates the maximum value of.

  Next, (9) the offset time until the start of all slave device IN data input processing indicates the offset time between the system time synchronization timing and the IN data latch synchronization timing, as shown in FIG. This (9) offset time until the start of all slave device IN data input processing is calculated by (communication cycle-communication cycle execution minimum value) + (8) all slave device OUT data output response delay time MAX. (9) By using the offset time until the start of all slave device IN data input processing, if the system time synchronization timing is determined, the IN data latch synchronization timing can be uniquely determined.

  Next, (10) Slave device input response delay time indicates a delay time related to input processing in each communication coupler 52, as shown in FIG. More specifically, (10) the slave device input response delay time is set separately for each communication coupler 52, and each of the input response delay times between the functional units 54 connected to the corresponding communication coupler 52 is Indicates the maximum value. That is, (10) Slave device input response delay time indicates the time required to complete the IN data input latch processing for each slave device.

  The (11) functional unit output response delay time and (12) functional unit input conversion delay time indicate a specific delay time related to the output process and the input process for each functional unit 54.

  Specifically, (11) functional unit output response delay time indicates the time until each functional unit 54 completes output according to the data in the shared memory. Further, (12) functional unit input conversion delay time indicates a time until the functional unit 54 completes writing to the shared memory in accordance with input data.

(F4. Data structure)
Some of the parameters shown in FIG. 12 described above are specific to the functional unit, and the values of these parameters are read from a device profile 843 prepared in advance. That is, the hard disk 84 serving as a holding unit holds a device profile 843 indicating a unique parameter of each functional unit 54. Hereinafter, the data structure of the device profile 843 (FIG. 7) stored in the support apparatus 8 will be described.

  FIG. 14 is a diagram illustrating an example of a data structure of the device profile 843 stored in the support apparatus 8 connected to the PLC 1 according to the present embodiment. Referring to FIG. 14, device profile 843 is prepared separately for each functional unit, and information (for example, model name, product name, unit version, vendor, comment, URL) for specifying the corresponding functional unit is provided. Including. Each of the device profiles 843 includes parameters (for example, input response delay time, input conversion delay time, output response delay time) that are unique to the corresponding functional unit. That is, the expected time for automatically calculating the synchronization parameter is acquired with reference to the device profile 843.

  When the user designs the control system SYS, the user operates the support device 8 to obtain information on the units constituting the PLC 1, that is, the types, number and positions of the CPU unit 12, the functional unit 14, and the power supply unit 16. Set. Similarly, the user operates the support device 8 to set the configuration of the slave device connected to the field network 2 and also sets the configuration of each slave device. For example, for the remote IO terminal 5, the type, number, and position of the communication coupler 52 and the functional unit 54 are set.

  Information relating to the design of such a control system SYS is stored in the support device 8 as configuration information 842. The configuration information 842 is transferred from the support device 8 to the CPU unit 12 and the communication coupler 52 as necessary. That is, the configuration information 104 (FIG. 6) stored in the nonvolatile memory 154 of the CPU unit 12 and the configuration information 104 (FIG. 3) stored in the nonvolatile memory 101 of the communication coupler 52 are generated by the configuration information 842. The

  In addition, since some of the parameters shown in FIG. 12 described above depend on the number and position of functional units connected to the PLC 1 and the communication coupler 52, when automatically calculating the synchronization parameter, the device In addition to the parameters stored in the profile 843, configuration information 842 is referenced. That is, the expected time for automatically calculating the synchronization parameter is determined based on the design value of the control system SYS defined by the configuration information 104. At this time, the maximum value in the control system SYS defined by the configuration information 842 is adopted as these expected times.

(F5. User interface)
Next, an example of a user interface related to the design of the control system SYS provided by the support device 8 will be described. 15 and 16 are diagrams showing an example of a user interface screen provided by the support device 8 connected to the PLC 1 according to the present embodiment. That is, the support device 8 provides a user interface for designing a master device (PLC1) and a slave device (remote IO terminal 5) included in the control system SYS.

  The user interface screen shown in FIG. 15 is for designing the unit configuration of the PLC 1 and / or the remote IO terminal 5. The user selects a unit to be mounted on the PLC 1 or the remote IO terminal 5 by operating a mouse, a keyboard, or the like on the user interface shown in FIG. 15, and lays out the layout in a desired order. Typically, as shown by reference numeral 400 in FIG. 15, the user designs the unit configuration of PLC1 by dragging and dropping an icon (reference numeral 402) corresponding to the target functional unit in an area schematically representing PLC1. To do.

  On this user interface screen, parameters of each functional unit can be set (reference numeral 404). Further, the user performs IO allocation of each functional unit on the user interface screen shown in FIG. This IO allocation corresponds to the association between the input / output port mounted on the corresponding functional unit and the memory space handled by the CPU unit 12. In this IO allocation, a setting for invalidating some ports of the functional unit is also possible.

  Configuration information (configuration) set by the user on the user interface screen shown in FIGS. 15 and 16 is stored as configuration information 842 in the hard disk 84 as a holding unit. That is, the holding unit of the support device 8 further holds configuration information 842 that defines the control system SYS designed via the user interface.

<G. Processing procedure>
Next, a processing procedure for automatic calculation of synchronization parameters according to the present embodiment will be described. FIG. 17 is a flowchart showing a processing procedure of automatic calculation of synchronization parameters according to the present embodiment. The processing procedure shown in FIG. 17 is typically realized by the CPU 81 of the support device 8 executing the tool program 841 (FIG. 7). Instead of the configuration in which the automatic calculation of the synchronization parameter is implemented in the support device 8, it may be implemented in an information processing device other than the CPU unit 12 of the PLC 1 or the support device 8.

  Referring to FIG. 17, when the user instructs execution of tool program 841, CPU 81 of support device 8 displays a user interface screen for designing control system SYS on display 87 (step S100). Then, the CPU 81 receives a design value related to the control system SYS from the user (step S102). This design value includes parameters related to the entire control system SYS, parameters related to each unit, and the like. The process of step S102 is repeated until the user gives an instruction to end the design related to the control system SYS.

  When the user instructs to end the design related to the control system SYS (YES in step S104), the CPU 81 generates / updates the configuration information 842 with the design value input by the user (step S106).

  Subsequently, when an automatic calculation of the synchronization parameter is instructed (YES in step S108), the CPU 81 refers to the configuration information 842 and the device profile 843 and starts the calculation process of the synchronization parameter. Specifically, the CPU 81 reads information such as (1) the IO refresh mode of the CPU unit, (2) the valid / invalid setting of the slave device, and (3) the communication cycle from the configuration information 842 (step S110). Subsequently, the CPU 81 refers to the configuration information 842 to identify each functional unit included in the control system SYS, and for each functional unit, from the device profile 843 to (11) functional unit output response delay time and ( 12) Read out the functional unit input conversion delay time (step S112).

  Subsequently, the CPU 81 reads the input response delay time of each functional unit mounted from the device profile 843 for each of the communication couplers 52 included in the control system SYS, and the maximum value of the input response delay time in each communication coupler 52. (10) The slave device input response delay time is determined (step S114).

  Subsequently, the CPU 81 reads out parameters related to the field network 2 of the control system SYS and parameters related to the slave devices in the configuration information 842, and (6) all slave device OUT data transfer time MAX and (7) all. The slave device IN data input latch processing time MAX is determined (step S116).

  Subsequently, the CPU 81 reads out the parameter related to the configuration of the communication coupler 52 and the parameter related to the functional unit included in each communication coupler 52 from the configuration information 842, and (4) slave device OUT shift time, (5 The slave device IN shift time and (8) the all slave device OUT data output response delay time MAX are determined (step S118). Then, the CPU 81 determines (10) the slave device input response delay time by using the calculated (8) all slave device OUT data output response delay time MAX (step S120).

  Finally, the CPU 81 calculates a system time synchronization timing, an OUT data output synchronization timing, and an IN data latch synchronization timing (step S122), and determines whether or not the values indicating the calculated timings are appropriate. (Step S124). If the calculated value indicating each timing is appropriate (YES in step S124), the value calculated in step S122 is output as a synchronization parameter (step S126). The output synchronization parameter is stored in the configuration information 842 and the like.

  On the other hand, if the calculated values indicating the respective timings are not appropriate (NO in step S124), the CPU 81 notifies the user that an appropriate synchronization parameter cannot be calculated with the current settings (step S128). .

Thereafter, the processes after step S100 are repeated.
In the above-described processing procedure, the synchronization parameter calculation process is started in step S108 in response to an instruction for automatic calculation of the synchronization parameter. For example, automatic calculation of synchronization parameters may be started when the configuration information is changed.

  In the above processing procedure, if the values indicating the respective timings calculated in step S124 are not appropriate, a notification is made in step S128 that an appropriate synchronization parameter cannot be calculated with the current settings. It was. Not limited to this, for example, in the stap S128, the calculated parameter is configured to notify that the IN data latch synchronization timing and the OUT data output synchronization timing between the functional units may not be synchronized as operations on the actual machine. It is good.

<H. Advantage>
According to the present embodiment, the control system SYS is configured to synchronize the timing of capturing the state value from the control target between the functional units and to synchronize the output timing of the command value calculated by the PLC 1 between the functional units. The required synchronization parameters can be easily determined when trying to design. Thereby, even a user without expert knowledge can determine necessary parameters in a shorter time.

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

  1 PLC, 2 field network, 3 servo driver, 4 servo motor, 5 terminal, 6 detection switch, 7 relay, 8 support device, 9 CD-ROM, 10 connection cable, 11 internal bus, 12 CPU unit, 14, 54 functions Unit, 16 power supply unit, 51 terminal internal bus, 52 communication coupler, 81 CPU, 83 RAM, 84 hard disk, 85 keyboard, 86 mouse, 87 display, 88 CD-ROM drive, 100, 150, 200 processor, 101, 154 Non-volatile memory, 102, 158, 209 System program, 104, 842 Configuration information, 110 Fieldbus control unit, 112, 210a, 220a Receiving unit, 114, 210b, 220b Transmitting unit, 120 Field bus communication controller, 122 memory controller, 124, 207 memory, 126, 164, 203 reception buffer, 128, 166, 204 transmission buffer, 130 internal bus control unit, 132 internal bus communication controller, 142 transmission circuit, 144 reception circuit, 152 Main memory, 156 User program, 160 Storage unit, 162, 202 Shared memory, 206 IO module, 208 Setting information, 214, 224 Forward controller, 230 Reception processing unit, 232 Decoding unit, 234 Check unit, 240 Transmission processing unit, 242 CRC generator, 244 encoder, 250 bus, 511, 611 downlink, 512, 612 uplink, 841 tool program, 843 device profile, SYS control system System.

Claims (7)

An information processing apparatus for determining a parameter for a control system comprising a master device and one or more slave devices connected to the master device via a first communication path , the slave device A device includes a functional unit for exchanging signals with a control target, and a communication unit connected to the first communication path and connected to the functional unit via a second communication path. including the door,
Means for obtaining a communication period in the master device;
Means for obtaining a first expected time required for completion of reception by the communication unit of the slave device of a data frame transmitted from the master device via the first communication path ;
In the communication unit of the slave device , after the reception of the data frame from the master device is completed, the second communication path of the data included in the received data frame to the functional unit included in the slave device Means for obtaining a second estimated time required to complete the transfer via
In the communication unit of the slave device , until the state value acquired from the control target by the functional unit is transmitted via the second communication path and is ready to be transmitted via the first communication path. Means for obtaining a third estimated time required for
Based on the acquired communication cycle and the first to third expected times, the timing for instructing the functional unit included in the slave device to acquire the state value from the control target, and included in the master device An information processing apparatus comprising: a function unit configured to determine a timing of outputting data included in the received data frame to the control target. Further comprising holding means for holding a profile indicating a unique parameter of each functional unit;
The information processing apparatus according to claim 1, wherein the first to third expected times are acquired with reference to the profile. Means for providing a user interface for designing a master device and a slave device included in the control system;
The holding means further holds configuration information defining a control system designed via the user interface,
The information processing apparatus according to claim 2, wherein the first to third expected times are determined based on a design value defined by the configuration information. The information processing apparatus according to claim 3, wherein a maximum value in a control system defined by the configuration information is adopted as the first to third expected times.   Included in the received data frame and the timing for instructing the acquisition of the state value from the control target with reference to the reference timing at which preparation for outputting the data transmitted from the master device is completed in all slave devices The information processing apparatus according to claim 1, wherein timing for outputting data to the control target is determined. Information processing program for causing a computer to execute a process for determining a parameter for a control system comprising a master device and one or more slave devices connected to the master device via a first communication path The slave device is connected to the first communication path with a functional unit for exchanging signals with the control target, and via the functional unit and the second communication path. A communication unit connected to the computer, wherein the information processing program acquires the communication cycle in the master device to the computer;
Obtaining a first expected time required for completion of reception by the communication unit of the slave device of a data frame transmitted from the master device via the first communication path ;
In the communication unit of the slave device , after the reception of the data frame from the master device is completed, the second communication path of the data included in the received data frame to the functional unit included in the slave device Obtaining a second estimated time to complete the transfer over ,
In the communication unit of the slave device , until the state value acquired from the control target by the functional unit is transmitted via the second communication path and is ready to be transmitted via the first communication path. Obtaining a third expected time required for
Based on the acquired communication cycle and the first to third expected times, the timing for instructing the functional unit included in the slave device to acquire the state value from the control target, and included in the master device And a step of determining a timing of outputting data included in the received data frame to the control target. An information processing method for determining a parameter for a control system comprising a master device and one or more slave devices connected to the master device via a first communication path , the slave device comprising: A device includes a functional unit for exchanging signals with a control target, and a communication unit connected to the first communication path and connected to the functional unit via a second communication path. The information processing method includes:
Obtaining a communication period in the master device;
Obtaining a first expected time required for completion of reception by the communication unit of the slave device of a data frame transmitted from the master device via the first communication path ;
In the communication unit of the slave device , after the reception of the data frame from the master device is completed, the second communication path of the data included in the received data frame to the functional unit included in the slave device Obtaining a second estimated time to complete the transfer over ,
In the communication unit of the slave device , until the state value acquired from the control target by the functional unit is transmitted via the second communication path and is ready to be transmitted via the first communication path. Obtaining a third expected time required for
Based on the acquired communication cycle and the first to third expected times, the timing for instructing the functional unit included in the slave device to acquire the state value from the control target, and included in the master device Determining a timing for outputting the data included in the received data frame to the control target.

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