JP6509477B2 - Control device and control program - Google Patents

Description

  The present invention relates to a control device used to control the operation of a machine or equipment.

  Machines and equipment used in many production sites are typically controlled by a control system that includes a control device including a programmable controller (hereinafter also referred to as "PLC"). In such a control system, the PLC has functions such as a central processing unit (CPU) unit and an input output (IO) unit responsible for signal input from an external switch or sensor and signal output to an external relay or actuator. Includes units and Also, the PLC may be connected to a plurality of remote IO terminals by a network. Each such remote IO terminal includes a communication coupler and one or more functional units.

  Such a remote IO terminal generally includes a plurality of functional units, which may occur if these functional units fail. If the control system is stopped due to such a functional unit failure, the machine or equipment to be controlled must also be stopped. Therefore, prompt recovery from such functional unit failure is required.

  The following prior arts exist with respect to such a subject. For example, the remote terminal device disclosed in Japanese Patent Application Laid-Open No. 2007-102764 (Patent Document 1) has backup means capable of storing unit information of each I / O unit and setting value information. It is possible to determine whether the replaced I / O unit satisfies a predetermined restore condition. Moreover, Unexamined-Japanese-Patent No. 2008-097369 (patent document 2) discloses the programmable controller in which the toolless online removal of a unit is possible.

JP 2007-102764 A JP, 2008-097369, A

  With the demand for cost reduction for the control system as described above, the improvement of the processing capability of the PLC unit, etc., there is a tendency for more functional units to be attached to a single PLC unit. Along with this, the control program executed by the PLC unit also tends to be enlarged. In designing such a control system, it is preferable that functional units can be added / changed more flexibly.

  On the other hand, the configuration described in the above-mentioned prior art is intended to facilitate replacement of functional units etc. in a control system which has already been set up and is in operation, and therefore such needs are considered. is not.

  The present invention has been made in consideration of the above-mentioned points, and an object thereof is to provide an environment in which the system configuration can be added / changed more flexibly.

  According to an aspect of the present invention, there is provided a control device communicably connected via a bus to one or more slave devices each operating according to given setting information, and functioning as a master device. The control device includes storage means for storing configuration information including setting information and identification information for identifying each slave device for each slave device. The setting information includes information indicating identification information on the bus of the corresponding slave device. The control device acquires the actual value of the identification information from the slave device, and matches the identification information included in the configuration information with the actual value of the acquired identification information, and matches the actual value of the acquired identification information And setting means for giving setting information corresponding to the configuration information including the identification information to the slave device which has acquired the actual value of the identification information.

  Preferably, when there is no configuration information including identification information that matches the actual value of the acquired identification information, the setting means does not give the setting information to the slave device that has acquired the actual value of the identification information. .

  Preferably, the matching means outputs an error when there is no configuration information including identification information that matches the actual value of the acquired identification information.

  More preferably, the configuration information includes information for invalidating whether or not the corresponding slave device is actually connected to the bus, and the collating means includes the information for invalidating the configuration information. In the case where the real device value of the identification information that matches the corresponding identification information is not acquired from any slave device, no error is output.

  More preferably, the collating means generates an error when the setting information includes information for invalidation and the actual value of the identification information different from the corresponding identification information is obtained from the slave device. Output.

  Preferably, the identification information includes type information for identifying the type of each slave device and an individual identification number for uniquely identifying each slave device, and the collating means includes both the type information and the individual identification number. It is configured to be able to select a mode in which the collation is performed using and a mode in which the collation is performed using type information.

  According to another aspect of the present invention, control executed in a processing device functioning as a master device communicably connected via a bus to one or more slave devices each operating according to provided setting information A program is provided. The processing device includes storage means for storing configuration information including setting information and identification information for specifying each slave device for each slave device, and the setting information indicates identification information on the bus of the corresponding slave device. Contains information. The control program causes the processing device to acquire the actual value of the identification information from the slave device, and collates the identification information included in the configuration information with the actual value of the acquired identification information, and the actual device of the acquired identification information Providing setting information corresponding to the configuration information including the identification information that matches the value to the slave device that has acquired the actual value of the identification information.

  According to the present invention, system configuration can be added / changed more flexibly.

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 the 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 schematic diagram for demonstrating the collation process of the unit configuration data which concerns on this Embodiment. It is a figure which shows an example of the data format of the unit configuration management information D1 stored in the communication coupler which concerns on this Embodiment. It is a figure which shows an example of the data format of intrinsic | native identification information (actual machine value) D40 stored in the functional unit which concerns on this Embodiment. It is a figure which shows an example of the unit invalidation setting set to the communication coupler which concerns on this Embodiment. It is a figure which shows the example of a setting of the unit number set in the unit invalidation setting shown in FIG. It is a figure which shows an example of the memory space set in the unit invalidation setting shown in FIG. It is a schematic diagram for demonstrating the collation process of unit configuration data containing the unit invalidation setting which concerns on this Embodiment. It is a figure which shows the correspondence of the error output process performed separately of the unit invalidation setting which concerns on this Embodiment. It is a sequence diagram which shows the process sequence of the collation process of the unit configuration data which concerns on this Embodiment.

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

<A. Control system configuration example>
First, a configuration example of a control system according to the present embodiment will be described. FIG. 1 is a schematic view showing a configuration example of a control system according to the present embodiment. Referring to FIG. 1, control system SYS includes PLC 1, servo motor driver 3 and remote IO terminal 5 connected to PLC 1 via field network 2, and detection switch 6 and relay 7 as field devices. . The support device 8 is connected to the PLC 1 via a connection cable 10 or the like.

  The PLC 1 includes a CPU unit 13 that executes main arithmetic processing and one or more functional units 14. These functional units 14 are configured to be able to exchange data with each other via the PLC system bus 11 which is a system bus (internal bus). In addition, the power supply unit 12 supplies power of an appropriate voltage to the functional unit 14. Such functional units 14 include IO units and special units.

  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 as to whether the sensor (such as the detection switch 6) is detecting any target (on) or not detecting any target (off). In addition, the IO unit outputs one of a command for activation (ON) and a command for deactivation (OFF) to an output destination such as the relay 7 or an actuator.

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

  The field network 2 transmits various data exchanged with the CPU unit 13. Various industrial Ethernets (registered trademark) can be used as the field network 2. Examples of the industrial Ethernet (registered trademark) include EtherCAT (registered trademark), PROFINET (registered trademark), MECHATROLINK (registered trademark) -III, Powerlink, SERCOS (registered trademark) -III, CIP Motion, and the like. Furthermore, field networks other than Industrial Ethernet (registered trademark) may be used. For example, DeviceNet, CompoNet (registered trademark), or the like may be used.

  The servo motor driver 3 is connected to the CPU unit 13 via the field network 2 and drives the servo motor 4 in accordance with a command value from the CPU unit 13.

  Further, one or more remote IO terminals 5 are connected to the field network 2 of the control system SYS shown in FIG. The remote IO terminal 5 performs processing relating to general input / output processing in the same manner as the functional unit 14. More specifically, remote IO terminal 5 includes a communication coupler 52 for performing processing related to data transmission in field network 2, and one or more functional units 54 (including IO units and special units). . These functional units 54 are configured to be able to exchange data with each other via a remote IO terminal bus 51 which is a system bus (internal bus).

  The communication coupler 52 controls the operation of the functional unit 54 and controls data transmission with the CPU unit 13. The communication coupler 52 is connected to the CPU unit 13 of the PLC 1 via the field network 2.

  In the remote IO terminal 5, the communication coupler 52 mainly (as a master) manages data transmission with the functional unit 54 (IO unit or special unit) to be attached via the remote IO terminal bus 51. Similarly, in the PLC 1, the CPU unit 13 mainly (as a master) manages data transmission with the functional unit 14 (IO unit or special unit) to be attached via the PLC system bus 11.

  Therefore, in the following description, the communication coupler 52 in the remote IO terminal 5 and the CPU unit 13 in the PLC 1 are also referred to as “master device” or “bus master”, focusing on their functions. On the other hand, the functional units connected to the communication coupler 52 in the remote IO terminal 5 and the functional units connected to the CPU unit 13 in the PLC 1 are also referred to as “slave devices” focusing on their functions.

  Further, in the communication coupler 52 and the CPU unit 13, a processor mounted therein executes a system program or the like to realize processing as described later. Therefore, it can be said that the communication coupler 52 and the CPU unit 13 are processing devices that execute various processes.

<B. Hardware configuration of remote IO terminal 5>
Next, the 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 view showing a connection configuration of the remote IO terminal 5 according to the present embodiment. Referring to FIG. 2, in remote IO terminal 5, remote IO terminal bus 51 (downlink 511 and uplink 512) in which one or more functional units 54-1, 54-2, 54-3,. And the data transmission between the communication coupler 52 and the communication coupler 52 is possible.

  As an example, in the downlink 511 and the uplink 512, serial communication is adopted, and target data is transmitted in a form of being aligned in time series. More specifically, in the downlink 511, data is transmitted in one direction via the downlink 511 from the communication coupler 52 functioning as a master device to the functional unit 54 functioning as a slave device. On the other hand, in the uplink 512, data is transmitted in one direction via the uplink 512 from any functional unit 54 toward the communication coupler 52.

  When each of the functional units 54 receives a frame for transmission on the downlink 511 or uplink 512, it decodes data from the frame to perform necessary processing. Then, each of the functional units 54 regenerates the frame, and then retransmits (forwards) to the next functional unit 54.

  In order to realize such sequential transfer of frames containing data, each functional unit 54 is also referred to as a receiver (hereinafter also referred to as “RX”) 210 a and a transmitter (hereinafter referred to as “TX”) with respect to the downlink 511. ) And 210b, and for the uplink 512, includes a receiver 220a and a transmitter 220b. The receiving units 210a and 220a receive data transmitted as frames from other functional units 54 via the remote IO terminal bus 51, which is a communication line. The transmitters 210b and 220b transmit data as frames to other functional units 54 via the remote IO terminal bus 51 which is a communication line.

  Each functional unit 54 comprises a processor 200, which controls the processing of these data.

  The communication coupler 52 includes a processor 100 which is an operation subject, a field bus control unit 110, a receiving unit 112, a transmitting unit 114, and an internal bus control unit 130. That is, the communication coupler 52 is connected not only to the remote IO terminal bus 51 (downlink 511 and uplink 512), but also to the field network 2 which is the upper level communication network via the receiving unit 112 and the transmitting unit 114. Be done. 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 bus 51.

(B2. Configuration of communication coupler 52)
FIG. 3 is a schematic view showing a hardware configuration of the communication coupler 52 that constitutes the remote IO terminal 5 according to the present embodiment. Note that FIG. 3 shows an IO unit as an example of the functional unit 54. Referring to FIG. 3, communication coupler 52 of remote IO terminal 5 includes processor 100, non-volatile memory 101, field bus control unit 110, reception unit 112, transmission unit 114, and internal bus control unit 130. including.

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

  The field bus control unit 110 cooperates with the receiving unit 112 and the transmitting unit 114 to communicate with another device (PLC 1 and other remote IO terminal 5) at a predetermined control cycle via the field network 2. Send and receive data with More specifically, field bus control unit 110 includes upper communication controller 120, memory controller 122, FIFO (First In First Out) memory 124, reception buffer 126, and transmission buffer 128.

  The upper communication controller 120 interprets a command or the like transmitted from the PLC 1 via the field network 2 and executes processing necessary to realize communication via the field network 2. Further, the upper communication controller 120 performs processing of data copying from the upper communication frame sequentially stored in the FIFO memory 124 and data writing to the upper communication frame.

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

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

  The processor 100 gives instructions 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 non-volatile memory 101 stores a system program 102 and unit configuration management information D1. The unit configuration management information D1 includes setting information of the functional unit 54. The details of the unit configuration management information D1 will be described later.

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

  More specifically, 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 bus 51. The transmission circuit 142 generates and transmits a frame flowing on the downlink of the remote IO terminal bus 51 in accordance with an instruction from the internal bus communication controller 132. The receiving circuit 144 receives a frame flowing on the uplink of the remote IO terminal bus 51 and outputs the frame to the internal bus communication controller 132.

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

(B3. Configuration of functional unit 54)
FIG. 4 is a schematic diagram showing the hardware configuration of the functional unit 54 of the remote IO terminal 5 according to the present embodiment. Referring to FIG. 4, each of the functional units 54 of the remote IO terminal 5 is a de-serializer (hereinafter, also referred to as a “DES unit”) 212, 222 and a serial converter (SER: serializer: Hereinafter, it is also referred to as “SER unit.” 216 and 226, and forward controllers 214 and 224. Furthermore, each of 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 208 connected to one another via a bus 250. . Memory 208 includes, by way of example, volatile and non-volatile regions.

  The DES unit 212, the forward controller 214, and the SER unit 216 correspond to the reception unit 210a and the transmission unit 210b for the downlink 511 shown in FIG. These parts execute processing related to transmission and reception of a frame flowing through the downlink 511. Similarly, the DES unit 222, the forward controller 224 and the SER unit 226 correspond to the receiving unit 220a and the transmitting unit 220b for the uplink 512 shown in FIG. These portions perform processing related to transmission and reception of frames 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 frame into data according to a predetermined algorithm. The CRC check unit 234 performs an error check (for example, a cyclic redundancy check (CRC) code) based on a frame check sequence (FCS) or the like added to the end of the frame.

  The transmission processing unit 240 is connected to the forward controllers 214 and 224, and performs generation and timing control of a frame to be retransmitted (forwarded) to the next functional unit 54 in accordance with an instruction from the processor 200 or the like. Further, the transmission processing unit 240 cooperates with the processor 200 and the like to generate data to be transmitted to the functional unit 54 at the next stage. 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 the data to a frame storing 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 operation subject that controls the functional unit 54 in an active manner. More specifically, the processor 200 stores the frame received via the reception processing unit 230 in the shared memory 202, or reads out predetermined data from the shared memory 202 and outputs the data to the transmission processing unit 240, Generate

  The shared memory 202 is a reception buffer 203 for temporarily storing a frame received via the reception processing unit 230, and a transmission for temporarily storing a frame for transmission via the transmission processing unit 240. And a buffer 204. The shared memory 202 also includes an area for storing various data.

  IO module 206 receives an input signal from an external switch or sensor, writes the value in shared memory 202, and relays the signal according to the value written in the corresponding area in shared memory 202. And output to the actuator.

  The memory 208 stores a system program 209 and setting information D50. Typically, the system program 209 is stored in the non-volatile area of the memory 208, and the setting information D50 is stored in the volatile area of the memory 208.

<C. PLC 1 hardware configuration>
Next, the hardware configuration of PLC1 which comprises a part of control system SYS which concerns on this Embodiment is demonstrated.

(C1. Connection configuration)
FIG. 5 is a schematic view 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-mentioned remote IO terminal 5, CPU unit 13 and one or more functional units 14-1, 14-2, 14-3,. Data can be transmitted to one another via the system bus 11 (downlink 611 and uplink 612).

  When each of the functional units 14 receives a frame for transmission on the downlink 611 or uplink 612, it decodes data from the frame to perform necessary processing. Then, each of the functional units 14 regenerates the frame and then retransmits (forwards) to the next functional unit 14. Each functional unit 14 includes a receiver (RX) 210 a and a transmitter (TX) 210 b for the downlink 611, and a receiver 220 a and a transmitter 220 b for the uplink 612.

  The CPU unit 13 includes a processor 150, a field bus control unit 110, a receiving unit 112, a transmitting unit 114, and an internal bus control unit 130.

(C2. Configuration of communication coupler 52)
FIG. 6 is a schematic view showing a hardware configuration of the CPU unit 13 constituting the PLC 1 according to the present embodiment. 6, CPU unit 13 of PLC 1 includes processor 150, main memory 152, non-volatile memory 154, field bus control unit 110, receiving unit 112, transmitting unit 114, and internal bus control unit And 130. The non-volatile memory 154 stores a user program 156, a system program 158, and unit configuration management information D1. The basic configuration relating to data transmission of CPU unit 13 is the same as that of communication coupler 52 (FIG. 2) described above, and therefore, the description of the corresponding parts (with the same reference numerals attached) will not be repeated.

  The processor 150 of the CPU unit 13 executes a program for realizing control of an object. More specifically, the CPU unit 13 reads the user program 156 and the system program 158 from the non-volatile memory 154 or the like, and develops the program in the main memory 152 for execution. By executing the user program 156 and the system program 158, the state value to be output from the output unit of the functional unit 14 is sequentially calculated based on the state value detected by the input unit of the functional unit 14.

  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), and therefore 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. FIG. 7 is a schematic view showing a hardware configuration of the support device 8 connected to the PLC 1 according to the present embodiment. Referring to FIG. 7, support device 8 is typically configured of a general-purpose computer. From the viewpoint of maintainability, a laptop computer with excellent portability is preferable.

  Referring to FIG. 7, the support device 8 includes a CPU 81 that executes various programs including an operating system (OS), a read only memory (ROM) 82 that stores a basic input output system (BIOS) and various data, and the CPU 81. And a hard disk (HDD) 84 for non-volatilely storing a program to be executed by the CPU 81 and the like. The hard disk 84 stores a tool program 841.

  The support device 8 further includes a keyboard 85 and a mouse 86 for receiving operations from the user, and a display 87 for presenting information to the user. Furthermore, the support device 8 includes a communication interface (IF) for communicating with the PLC 1 (CPU unit 13) or the like.

  As described later, the tool program 841 executed by the support device 8 is stored and distributed in a compact disk-read only memory (CD-ROM) 9. 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 the host computer or the like via a network.

E. Overview of Unit Configuration Data Verification Process>
Next, collation processing of unit configuration data will be described as one of the functions as a bus master in the communication coupler 52 and the CPU unit 13 according to the present embodiment. In the following description, the verification process in the remote IO terminal 5 is illustrated for convenience of explanation, but the same verification process can be applied in the PLC 1 as well.

  FIG. 8 is a schematic diagram for explaining the collation processing of unit configuration data according to the present embodiment. Referring to FIG. 8, communication coupler 52 functioning as a bus master according to the present embodiment gives setting information D24 set in advance to functional unit 54 as a slave device. Each of functional units 54 operates in accordance with setting information D50 provided by communication coupler 52. The process of giving the setting information D24 is executed, for example, at the time of collation execution of unit configuration information, such as when the power of the remote IO terminal 5 is turned on or reset.

  By adopting such a configuration, it is not necessary for each of the functional units 54 to store its own setting information D50 while the power of the remote IO terminal 5 is turned off. Therefore, the configuration of the functional unit 54 can be further simplified.

  More specifically, the communication coupler 52 stores unit configuration management information D1 set in advance by the user operating the support device 8 or the like. The unit configuration management information D1 includes unit configuration data D20 for each functional unit 54. Each of unit configuration data D20 includes identification information D22 for specifying a target functional unit 54, and setting information D24 for giving the target functional unit 54.

  Before providing the setting information D24 to the target functional unit 54, the communication coupler 52 acquires unique identification information (actual machine value) D40 from each functional unit 54, and stores the acquired identification information (actual machine value) D40 in advance. The identification information D22 included in the unit configuration data D20 being collated is collated. Then, the communication coupler 52 provides the corresponding setting information D24 only to the functional unit 54 correctly collated.

The setting information D24 (setting information D50 stored by the functional unit 54) supplied from the communication coupler 52 includes number information on the remote IO terminal bus 51 of the corresponding functional unit 54. An example in which “unit No” is used as such number information in the remote IO terminal bus 51 will be described. In the remote IO terminal 5 according to the present embodiment, this "unit number" is set independently of the physical position (that is, the slot position) where the functional unit 54 on the remote IO terminal bus 51 is mounted. be able to. Therefore, for example, "5" can be set as the unit No. for the functional unit 54 mounted in the third slot position.

  The unit number is an identifier necessary for each functional unit 54 to perform data transmission on the remote IO terminal bus 51. Therefore, the functional unit 54 to which the setting information D50 including the unit No is not given can not effectively transmit data on the remote IO terminal bus 51. That is, the functional unit 54 to which the setting information D50 is not given is in a state of deactivation.

As shown in FIG. 8, the communication coupler 52, which is a control device functioning as a master device (bus master), has one or more slave devices (functional units 54) each operating according to the given setting information D50 and a remote IO terminal. It is communicably connected via the bus 51. The communication coupler 52 has a storage unit (such as the non-volatile memory 101 shown in FIG. 3) for storing configuration information including setting information D24 and identification information D22 for identifying each functional unit 54 separately for each functional unit 54. doing. The setting information D24 includes number information (unit No.) on the remote IO terminal bus 51 of the corresponding functional unit 54.

  Then, the communication coupler 52 acquires the identification information (actual value) D40 from the functional unit 54-1 at the time of power on or reset, etc., and at the same time, the identification information D22 included in the configuration information and the acquired identification information Value) It collates with D40 ((1) collation shown in FIG. 8). Then, the communication coupler 52 acquires the setting information D24 corresponding to the configuration information including the identification information D22 coincident with the acquired identification information (actual value) D40, the functional unit 54-1 having acquired the identification information (actual value) D40. ((2) setting shown in FIG. 8). The communication coupler 52 acquires the identification information (actual machine value) D40 for another functional unit 54-2, and collates the identification information D22 included in the configuration information with the acquired identification information (actual machine value) D40. A function of acquiring setting information D24 corresponding to configuration information including identification information D22 matching the acquired identification information (actual machine value) D40 ((3) collation shown in FIG. 8) with the identification information (actual machine value) D40 It gives to the unit 54-2 ((4) setting shown in FIG. 8).

  Although FIG. 8 shows an example in which the identification information (actual machine value) D40 is acquired in the order of connection of the functional units 54 (in order of proximity to the communication coupler 52) for convenience of explanation, it is connected to the remote IO terminal bus 51. The signal requesting the identification information (actual value) D40 may be transmitted (broadcast or multicast) simultaneously to all the functional units 54 that have been sent. In this case, each of the functional units 54 responds to the communication coupler 52 with the identification information (actual machine value) D40 held by its own unit.

  As described above, the setting information D50 is provided only when the collation between the unit configuration data D20 stored in advance and the identification information (actual machine value) D40 from the functional unit 54 is successful. In other words, when there is no configuration information including the identification information D22 that matches the acquired identification information (actual value) D40, the communication coupler 52 sends the identification information (actual value) D40 to the functional unit 54 that has acquired the identification information D22. Does not give the setting information D24. Furthermore, when the user wears a functional unit 54 different from the configuration information set in advance, an error or the like may be notified.

Since the number information (unit No.) in the remote IO terminal bus 51 can be arbitrarily set for each functional unit 54 along with the above-mentioned collation processing, the system configuration can be added / changed more flexibly.

Details of the above-described matching process and the like will be described later including related processes.
<F. Data structure>
Next, the data structure of the unit configuration management information D1 stored in the communication coupler 52 and the identification information (actual machine value) D40 stored in the functional unit 54 will be described.

(F1. Unit configuration management information D1)
FIG. 9 is a view showing an example of the data format of the unit configuration management information D1 stored in the communication coupler 52 according to the present embodiment. Referring to FIG. 9, unit configuration management information D1 includes unit configuration data D20 for each functional unit 54.

(F2. Unit configuration data D20)
Unit configuration data D20 includes information on each functional unit 54. Each of unit configuration data D20 includes unit configuration information. The unit configuration information includes identification information D22 and setting information D24. The identification information D22 includes information of a product code and a serial number. These pieces of information are unique information for identifying the corresponding functional unit 54. More specifically, the Product Code corresponds to type information for specifying the type of each functional unit 54. The serial number corresponds to an individual identification number for uniquely identifying each functional unit 54.

  The setting information D24 includes a unit number and a unit invalidation setting. The unit number corresponds to identification information on the remote IO terminal bus 51 of the corresponding functional unit 54. As described later, even when the unit invalidation setting is set to “ON” (that is, the corresponding functional unit 54 is invalidated), the corresponding unit number is given. The unit invalidation setting corresponds to information for invalidating the determination as to whether or not the corresponding functional unit 54 (slave device) is actually connected to the remote IO terminal bus 51. More specifically, the unit invalidation setting indicates whether the corresponding functional unit 54 is invalidated by “0” or “1”.

(F3. Unique identification information (actual machine value) D40)
FIG. 10 is a view showing an example of a data format of unique identification information (actual machine value) D40 stored in the functional unit 54 according to the present embodiment. Referring to FIG. 10, the unique identification information (actual value) D40 includes information of a product code and a serial number, as with the identification information D22 included in the unit configuration management information D1. The details of these pieces of information have been described above, and the description thereof will not be repeated.

<G. Functional unit invalidation processing>
As described above, the bus master (the communication coupler 52 and the CPU unit 13) according to the present embodiment gives the setting information D50 to the functional unit 54 whose unit configuration data has been correctly collated. The functional units 54 to which the setting information D50 is not given are maintained in the invalidated state. In addition to such functions, the specific functional unit 54 may be set to be able to be invalidated in advance. Hereinafter, the invalidation processing of this functional unit will be described.

  For example, in consideration of future expansion of functional unit 54 and equalization of layout of functional unit 54, it is not used in the user program, but in terms of system configuration, it is set to include several functional units 54. May be In such a case, it may be set so as not to judge (ignore) whether or not such a functional unit 54 is actually attached to the remote IO terminal bus 51 in the above-mentioned unit configuration data collation process. preferable. The unit invalidation setting included in the setting information D24 of the unit configuration management information D1 of FIG. 9 is directed to such setting.

  However, it is not preferable to affect the functional units 54 positioned before and after the functional unit 54 in which such a unit invalidation setting is made is attached to and detached from the remote IO terminal bus 51. For example, by adding a functional unit 54 for which a unit invalidation setting has been made, it is possible to avoid a situation where a reconfiguration (rebuild) of a user program or the like referring to the functional unit 54 mounted next to that is required. There is a need.

Therefore, in the present embodiment, number information (in the present embodiment, unit No.) in remote IO terminal bus 51 to be assigned to functional unit 54 for which unit invalidation setting has been made is set in advance. deep. Furthermore, a memory space to be used by the functional unit 54 for which the unit invalidation setting has been made is secured in advance.

  That is, the reservation process for the unit No and the memory space is executed so that the functional unit 54 for which the unit invalidation setting is made does not affect other parts whenever it is validated.

  FIG. 11 is a diagram showing an example of the unit invalidation setting set in the communication coupler 52 according to the present embodiment. FIG. 12 is a diagram showing a setting example of a unit number set in the unit invalidation setting shown in FIG. FIG. 13 is a diagram showing an example of a memory space set in the unit invalidation setting shown in FIG.

  In the unit configuration information shown in FIG. 11, four functional units 54 are set to be attached. The identification information of each functional unit 54 is assumed to be “AAA”, “BBB”, “CCC”, and “DDD”. It is assumed that the second functional unit 54 of these functional units 54 is set to the unit invalidation setting. A case where such unit configuration information is applied to the actual configuration of the remote IO terminal as shown in FIGS. 12 (a) to 12 (c) will be considered.

  In the remote IO terminal 5 shown in FIG. 12A, functional units 54-1 to 54-4 each include unique identification information (actual value) of "AAA", "BBB", "CCC", and "DDD". Is attached. In such an actual configuration, the functional unit 54-2 including "BBB" as unique identification information (actual machine value) is invalidated. That is, no unit number is assigned to the functional unit 54-2.

  However, the unit No. set in unit configuration data D20 corresponding to functional unit 54-2 is the same as the unit No. value set in unit configuration data D20 respectively corresponding to functional units 54-1 and 54-3. It can not be done and it needs to be set to a different value. Therefore, the unit No assigned to the functional unit 54-2 is substantially reserved.

  In the remote IO terminal 5 shown in FIG. 12B, compared to the actual configuration shown in FIG. 12A, there is no functional unit 54-2 including “BBB” as unique identification information (actual value). . Even in such an actual configuration, unit numbers are effectively allocated to the functional units 54-1, 54-3, 54-4. That is, comparing FIG. 12 (a) with FIG. 12 (b), the slot positions where functional units 54-3 and 54-4 are mounted are changed, but are not affected by the changes in the slot positions. A predetermined unit number is assigned. Therefore, there is no need to modify the user program or the like.

  On the other hand, in the actual configuration shown in FIG. 12 (c), in comparison with the actual configuration shown in FIG. 12 (a), in place of the functional unit 54-2, as unique identification information (actual machine value) "EEE" is mounted on the functional unit 54-5. With respect to the presence of the functional unit 54-5 in the actual configuration as shown in FIG. An error may be notified when the functional unit 54-5 different from the invalidation setting is attached.

  As described above, the presence of the functional unit 54 set to the unit invalidation setting on the remote IO terminal bus 51 is undefined. Therefore, in order to realize data transmission on remote IO terminal bus 51 without being affected by the presence of functional unit 54 for which the unit invalidation setting has been made, data can be input to such functional unit 54 as well. Secure a memory area related to output. For example, a memory space as shown in FIG. 13 is allocated corresponding to the unit invalidation setting shown in FIG. That is, the memory area is assigned in advance also to the functional unit 54-2 for which the unit invalidation setting is made, and the presence or absence of the functional unit 54-2 does not affect other parts even when it is validated. It is supposed to be.

<H. Verification processing of unit configuration data including unit invalidation setting>
Next, collation processing of unit configuration data including the above-described unit invalidation setting will be described.

  FIG. 14 is a schematic diagram for illustrating the process of collating unit configuration data including the unit invalidation setting according to the present embodiment. Referring to FIG. 14, unit configuration data 1, 2, 3... Are preset in communication coupler 52, and among these, unit invalidation setting is made for unit configuration data 2 (that is, invalidated). ) And

  The communication coupler 52 functioning as a bus master first acquires the identification information (actual machine value) D40 from the functional unit 54-1 when the collation execution timing of the unit configuration information arrives, and the identification information D22 included in the unit configuration data 1 And the acquired identification information (actual machine value) D40 are collated ((1) collation shown in FIG. 14). Then, if the identification information D22 included in the unit configuration data 1 matches the acquired identification information (actual machine value) D40, the communication coupler 52 provides the corresponding identification information D22 to the functional unit 54-1 (shown in FIG. 14). (2) setting.

  Subsequently, the communication coupler 52 acquires the identification information (actual machine value) D40 from the functional unit 54-3 attached to the slot position adjacent to the functional unit 54-1, and identifies the identification information included in the unit configuration data 2 D22 is collated with the acquired identification information (actual machine value) D40 ((3) collation shown in FIG. 14). In this case, since the unit invalidation setting is made for the unit configuration data 2, the communication coupler 52 executes the invalidation process ((4) invalidation process shown in FIG. 14). The invalidation process includes securing of a memory area as shown in FIG. However, setting of setting information from the communication coupler 52 is not performed.

  Further, the communication coupler 52 acquires the identification information (actual machine value) D40 from the functional unit 54-3, and collates the identification information D22 included in the unit configuration data 3 with the acquired identification information (actual machine value) D40. ((5) collation shown in FIG. 14). In this example, the identification information (actual machine value) D40 may not be required to be acquired again from the functional unit 54-3. Then, if the identification information D22 included in the unit configuration data 3 matches the acquired identification information (actual machine value) D40, the communication coupler 52 provides the corresponding identification information D22 to the functional unit 54-3 (shown in FIG. 14). (6) setting.

  As described above, the unit configuration data D20 includes the unit invalidation setting, whereby the identification information (actual machine value) D40 matching the identification information D22 may not be obtained in some cases. Although the setting information D50 is not given, a corresponding memory area is secured. As a result, even if the unit invalidation setting is canceled and the corresponding functional unit 54 is activated, there is no need to change the user program or the like.

<I. Details of collation process of unit configuration data>
(I1: Target data for verification processing)
Referring again to FIGS. 9 and 10, the identification information D22 and the identification information (actual value) D40 used in the collation process include information of a product code and a serial number. All of these pieces of information may be used in the matching process, but only part of the information may be used.

  For example, the serial number is a number uniquely assigned to the functional unit 54, and is effective when determining whether or not the specific functional unit 54 is attached. For example, in the case where a development maker of a control system wants to limit the functional units 54 to be used, it is preferable to use a serial number for the matching process.

  On the other hand, the functional unit 54 may be replaced due to a failure etc. In such a case, if it is the functional unit 54 with the same function and the same performance, it is necessary to limit to a specific functional unit 54 set in advance. Absent. Therefore, in the process of collating unit configuration data, it may be possible to optionally set whether or not to use the serial number according to a preset flag or the like.

  In addition, it is preferable that Product Code be a comparison target in the process of comparing unit configuration data.

  As described above, the communication coupler 52 is configured to be able to select a mode in which collation is performed using both type information (Product Code) and an individual identification number (serial number), and a mode in which collation is performed using type information. Ru.

(I2: Operation mode in unit invalidation setting)
As described above, with regard to the functional unit 54 for which the unit invalidation setting has been made, reservation processing for the unit No and the memory space is executed regardless of whether or not the remote IO terminal bus 51 is actually attached. Therefore, when the unique identification information (actual machine value) D40 can not be acquired from the functional unit 54 in which the unit invalidation setting is performed in the unit configuration data collation process, that is, the functional unit 54 in which the unit invalidation setting is performed is the remote IO terminal. If the bus 51 is not actually mounted, no error is output. However, as described with reference to FIG. 12C, if a functional unit 54 different from the functional unit 54 set (that is, to be attached) set in the unit configuration data D20 is attached, an error occurs. It may be output.

  FIG. 15 is a view showing the correspondence of error output processing executed separately for the unit invalidation setting according to the present embodiment. Referring to FIG. 15, for example, two modes (mode 1 and mode 2) in which error output processing in a situation as shown in FIG. 12 (c) is different may be prepared. As an error output method, a method of displaying an error message on the screen of the connected support device 8 or a display (for example, a specific type) indicating an error on an indicator (display means) provided in the communication coupler 52 There is a conceivable method of lighting / flashing the lamp.

  In any mode, the communication coupler 52 includes configuration information D24 corresponding to configuration information including identification information D22 matching the acquired identification information (actual machine value) D40 regarding the functional unit 54 that is not invalidated. Output an error if does not exist. That is, in the table shown in FIG. 15, in the case where "set identification information and identification information (actual machine value) do not match" in "non-disabled functional unit", "error output" is given.

  Similarly, in any mode, the communication coupler 52 does not output an error when the corresponding identification information (actual machine value) D40 can not be obtained for the functional unit 54 that has been invalidated. That is, when the communication coupler 52 includes information for disabling the configuration information, any functional unit 54 (slave device) has identification information (actual value) D40 that matches the corresponding identification information D22. Do not output an error even if not obtained from This corresponds to the operation of “error free” when “identification information (actual machine value) does not exist” of “functional unit being invalidated” in the table shown in FIG.

  On the other hand, in mode 1, the communication coupler 52 outputs an error when the identification information (actual value) D40 different from the corresponding identification information D22 is acquired for the functional unit 54 being invalidated. That is, in the case where the communication coupler 52 includes information for disabling the setting information, the identification information (actual value) D40 different from the corresponding identification information D22 is from the functional unit 54 (slave device). When it is acquired, an error is output. This is because "error output" occurs when "set identification information and identification information (actual machine value) do not match" in "function unit disabled" in "mode 1" of the table shown in FIG. Corresponds to the action to be

  As described above, by making the error output process different according to the contents of the unit invalidation setting, a more user-friendly and easy-to-use control system can be realized.

<J. Processing procedure>
Next, the processing procedure of the collation process of unit configuration data according to the present embodiment will be described. FIG. 16 is a sequence diagram showing a processing procedure of unit configuration data comparison processing according to the present embodiment. The processing procedure shown in FIG. 16 is executed by the support device 8, the communication coupler 52, and the functional units 54-1, 54-2,.

  Typically, the support device 8 executes the corresponding processing shown in FIG. 16 by the CPU 81 executing the tool program 841 as shown in FIG. The communication coupler 52 executes the corresponding process shown in FIG. 16 by the processor 100 executing the system program 102 as shown in FIG. Each of the functional units 54 executes the corresponding processing shown in FIG. 16 by the processor 200 executing the system program 209 as shown in FIG. The communication coupler 52 and the functional unit 54 may be realized using hardware such as an application specific integrated circuit (ASIC) or a field-programmable gate array (FPGA) instead of a form in which a processor executes a system program. It is also good.

  Referring to FIG. 16, first, the user operates support device 8 to generate unit configuration management information D1 related to the target remote IO terminal bus 51 (sequence SQ100). Then, in accordance with the user operation, the support device 8 transmits the generated unit configuration management information D1 to the communication coupler 52 (sequence SQ102). The transmission of the unit configuration management information D1 to the communication coupler 52 may be performed by connecting the support device 8 to the communication coupler 52, or the support device 8 may be connected to the CPU unit 13 connected via the field network 2. You may connect and go.

  When it is time to execute verification of unit configuration information such as when the power is turned on or reset, the communication coupler 52 is connected to the functional unit 54 to which the request signal of the identification information (actual value) D40 is connected via the remote IO terminal bus 51. For each of (Sequence SQ104). Although the example shown in FIG. 16 shows an example in which the request signal of the identification information (actual value) D40 is transmitted by broadcast, it may be sequentially transmitted to each of the functional units 54 using message communication.

  Each of functional units 54 responds to the request signal of identification information (actual value) D40, and responds to communication coupler 52 with identification information (actual value) D40 held by the own unit (sequence SQ106).

  Communication coupler 52 temporarily holds each identification information (actual value) D40 received from functional unit 54 in association with the corresponding slot position (sequence SQ108). The identification of the slot position where each functional unit 54 is mounted may be performed in the following manner. For example, a method may be employed in which the functional unit 54 transmits the identification information (actual value) D40 by adding information on the slot position to which the functional unit is connected. Alternatively, based on information indicating how many functional units 54 forward data transmitted from the functional unit 54 via the remote IO terminal bus 51 to the communication coupler 52 A method of identifying the slot position where the functional unit 54 is mounted can be employed.

  Communication coupler 52 collates identification information D22 included in unit configuration data D20 for each functional unit 54 with the acquired identification information (actual machine value) D40 (sequence SQ110). More specifically, the communication coupler 52 compares the identification information D22 with the identification information (actual machine value) D40 of the corresponding functional unit 54, and (1) sets the identification information D22 and the identification information (actual machine value ) D40 matches, (2) the set identification information D22 and the identification information (actual value) D40 do not match, (3) the corresponding identification information (actual value) D40 does not exist Determine if there is. Then, communication coupler 52 calculates the collation result based on the judgment result for each of unit configuration data D20 and the corresponding unit invalidation setting (sequence SQ112).

  Subsequently, the communication coupler 52 transmits the corresponding setting information D24 to the functional unit 54 for which the collation is successful (sequence SQ114). The functional unit 54 that receives the setting information D24 stores the setting information D50 (sequence SQ116).

  In parallel, communication coupler 52 allocates a memory space for each functional unit 54 in accordance with unit configuration data D20 for each functional unit 54 (sequence SQ118).

  Then, communication coupler 52 enables remote IO terminal bus 51, and switches remote IO terminal 5 to the operation state (sequence SQ120).

  The communication coupler 52 outputs an error to the support device 8 for the functional unit 54 that matches the predetermined error occurrence condition in the collation result calculated in the sequence SQ112 (sequence SQ122).

<K. Advantages>
According to the present embodiment, the master device (bus master) acquires unique identification information (real machine value) from each functional unit before giving setting information to the target functional unit, and acquires the acquired identification information (real machine value). Value) and identification information included in unit configuration data stored in advance. Then, the master device (bus master) gives the corresponding setting information only to the correctly collated functional unit. Since setting information is provided only when the data are correctly collated in this manner, setting information is not erroneously given when a functional unit different from the original design is mounted.

Further, according to the present embodiment, setting information including number information (unit No.) on the bus is individually given to each functional unit based on the result of the collation processing, so that each functional unit is actually mounted. Each unit number can be assigned independently of the position on the bus (slot position). In other words, even if a new functional unit is interrupted while the unit numbers of the respective functional units are set, the unit numbers of the other functional units set previously are not affected. Therefore, functional units can be added / changed more flexibly.

  Furthermore, according to the present embodiment, a unit disabling setting for disabling functional units is possible. By using this unit invalidation setting, it is possible to reserve a unit number and memory space for functional units that do not exist in reality. As a result, it is possible to facilitate the future expansion of the functional units and to simplify the creation of the user program by making the functional unit layout uniform.

  It should be understood that the embodiments disclosed herein are illustrative and non-restrictive in every respect. The scope of the present invention is indicated not by the above description but by the claims, and is intended to include all the modifications within the meaning and scope equivalent to the claims.

  1 PLC, 2 Field Network, 3 Servo Motor Driver, 4 Servo Motor, 5 Remote IO Terminal, 6 Detection Switch, 7 Relay, 8 Support Device, 9 CD-ROM, 10 Connection Cable, 11 PLC System Bus, 12 Power Supply Unit, 13 CPU unit, 14, 54 functional unit, 51 terminal bus, 52 communication coupler, 81 CPU, 83 RAM, 84 hard disk, 85 keyboard, 86 mouse, 87 display, 88 CD-ROM drive, 100, 150, 200 processors, 101, 154 nonvolatile memory, 102, 158, 209 system program, 110 field bus control unit, 112, 210a, 220a receiving unit, 114, 210b, 220b transmitting unit, 120 Communication controller, 122 memory controller, 124, 208 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, 212, 222 DES unit, 214, 224 forward controller, 216, 226 SER unit, 230 reception processing unit, 232 decoding unit, 234 check unit , 240 transmission processing unit, 242 CRC generation unit, 244 encoding unit, 250 bus, 511, 611 downlink, 512, 612 uplink, 841 tool program, D1 unit configuration management Distribution, D20 unit configuration data, D22 identification information, D24, D50 setting information, SYS control system.

Claims (6)

One or more slave devices and are communicably connected via a bus, and a control device functioning as the master device,
And configuration information, the configuration information including the identification information for identifying the slave devices, comprising a storage unit for storing for each slave device, wherein the setting information includes number information of the slave devices, each slave instrumentation Including information as to whether or not to invalidate the location, the number information being set independently of the physical location of the corresponding slave device on the bus ,
Collation means for acquiring a real machine value of identification information from any slave device and collating the identification information included in the configuration information with the real machine value of the acquired identification information;
A control device comprising: setting means for giving setting information corresponding to configuration information including identification information that matches the actual value of the acquired identification information to a slave device that has acquired the actual value of the identification information.   The setting means does not give setting information to a slave device that has acquired the actual value of the identification information, when there is no configuration information including identification information that matches the actual value of the acquired identification information. The control device according to claim 1.   3. The control device according to claim 1, wherein the collation unit outputs an error when there is no configuration information including identification information that matches the actual value of the acquired identification information. The comparison means, wherein, when including the information configuration information indicates that the disable slave device, acquired from any of the slave devices actual value of the identification information matching the corresponding identification information of the configuration information The control device according to claim 3, which does not output an error, if not. The identification information includes type information for identifying the type of each slave device, and an individual identification number for uniquely identifying each slave device.
The comparison means, the type information and the mode for matching using both the individual identification number, selectively configured to allow a mode for matching with the type information, either of claims 1-4 The control device according to any one of the preceding claims. One or more slave devices and are communicably connected via a bus, a control program executed in the processing device functioning as the master device,
Wherein the processing device includes a configuration information, the configuration information including the identification information for identifying the slave devices, a memory means for storing for each slave device, wherein the setting information includes number information of the slave devices If, includes information on whether to invalidate each slave equipment, the number information, the physical location in the bus of the corresponding slave device is set independently,
The control program causes the processing device to
Acquiring an actual value of identification information from any slave device, and collating identification information included in the configuration information with an actual value of the acquired identification information;
A control program for executing setting information corresponding to configuration information including identification information that matches the actual value of the acquired identification information to a slave device that has acquired the actual value of the identification information.

Images