JP6683137B2 - Industrial controller system - Google Patents

Description

  The present invention relates to an industrial controller system in which a plurality of industrial controllers are connected via a network.

Control systems used in various industries include a plurality of programmable logic controllers (hereinafter referred to as PLCs) and devices whose operations are controlled by the PLCs (hereinafter referred to as control devices). , There is an industrial network connected by a control network.
Some PLCs used in industrial networks have a built-in clock. Some PLCs with the built-in timepiece perform an operation designated according to the timepiece, for example, outputting a control value or acquiring data. Further, in recent years, there is a device that analyzes a plurality of data acquired according to a timepiece and performs failure prediction or predictive control of a control device.

  When performing time synchronization between a clock built in each PLC and a clock built in another PLC, one of the PLCs becomes a master that manages the reference time, and PLCs other than the master are managed by the master. There is a method in which the time difference between the master time and the slave time is calculated in consideration of the network delay time between the slave and the master, and the slave time is collectively adjusted to the master time. When the times are collectively adjusted, control processing such as measurement of time difference between two input signals before and after time synchronization may be an inappropriate operation. For example, the time difference between the two input signals includes an error corresponding to the time synchronization correction. Therefore, there is a unit having means for recognizing the time difference between the master and the slave by the time synchronization processing, and then adjusting the advance of the clock of the slave to gradually approach the master time (for example, Patent Document 1).

JP, 2009-157913, A

  However, in the industrial controller described in Patent Document 1, a gap occurs between the slave time and the master time while the slave time is gradually approaching the master time, and time accuracy is required rather than time continuity. There is a problem that the accuracy decreases for failure prediction and predictive control.

  The present invention has been made to solve the above problems, and therefore, the present invention provides both a slave time that maintains continuity and a time that a known deviation is corrected from the slave time. An object of the present invention is to provide an industrial controller that enables a master to acquire time and use the time properly according to the purpose, and an industrial controller used in an industrial controller system.

Industrial controller system according to the present invention is a industrial controller system comprising a slave device having a master device and a timekeeping unit for a slave with a clock means for connected master via the network, the master device , A master side transmitting / receiving section that transmits / receives signals to / from the slave apparatus, and a time synchronization processing section that generates a timing timing signal and transmits it to the slave apparatus via the master side transmitting / receiving section. and the slave transceiver unit for transmitting and receiving signals to and from the device, based on the timing the timing signal received from the master device, and time difference recognition unit for determining the time difference between the time counting means and for master clock means for the slave, the time difference recognizer in based on the time difference obtained timekeeping hands slave to adjust is completed at the target time of predetermined Gradually a clock adjusting portion for adjusting, from the time of the slave timekeeping means calculates the time conversion formula for calculating the time measuring unit for master slave transceiver while the clock adjustment section gradually adjusting the time advance of the through the section, and a time conversion formula calculating unit for transmitting the time-time conversion equation to the master device, the master device, characterized in that, to control the slave device based on the time conversion formula when you received from the slave device And

  According to the time synchronization system, the time synchronization method, and the industrial controller according to the present invention, even during the adjustment work for gradually eliminating the deviation of the time axis of the slave, the event (control value output, data It is possible to control using the time obtained by correcting the deviation of the known time from the master time.

1 is an overall block diagram of an industrial controller system according to Embodiment 1 of the present invention. It is a block diagram which shows the structure of the master apparatus of the industrial controller system which concerns on Embodiment 1 of this invention. It is a block diagram which shows the structure of the slave device of the industrial controller system which concerns on Embodiment 1 of this invention. It is a figure for demonstrating the process between the master and slave of the time synchronous process in the industrial controller system which concerns on Embodiment 1 of this invention. FIG. 6 is a diagram for explaining a method of adjusting the advance of the clock of the slave in the industrial controller system according to the first embodiment of the present invention. It is a figure for demonstrating calculation of the time conversion formula from slave time to master time in the industrial controller system which concerns on Embodiment 1 of this invention. It is a figure for demonstrating the timing of the time synchronous process and time conversion type transmission in the industrial controller system which concerns on Embodiment 1 of this invention. It is the whole block diagram in the industrial controller system which relates to the form 2 of execution of this invention. It is a block diagram which shows the internal structure of the master of the industrial controller system which concerns on Embodiment 2 of this invention. It is a block diagram which shows the internal structure of the slave of the industrial controller system which concerns on Embodiment 2 of this invention. It is a figure for demonstrating the adjustment method of the advance of the clock of the slave of the industrial controller system which concerns on Embodiment 2 of this invention.

Embodiment 1.
An industrial controller system according to Embodiment 1 of the present invention will be described with reference to the drawings. 1 is a block diagram of an industrial controller system according to a first embodiment of the present invention. FIG. 2 is a block diagram showing the internal configuration of the master device used in this system. FIG. 3 is a block diagram showing the internal configuration of the slave device used in this system.

  The industrial controller system according to the present embodiment includes a plurality of industrial controllers as shown in FIG. One of the plurality of industrial controllers is the master device 10, and the remaining industrial controllers are the slave devices 20. The master device 10 and a plurality of slave devices 20 are connected via a network 30. Further, each of the master device 10 and the slave device 20 is provided with a clocking means.

As shown in FIG. 2, the master device 10 includes a clock unit 11, a time synchronization processing unit 12, a control processing unit 13, a reception data storage unit 14, a transmission / reception unit 15, a data analysis unit 16, and a time conversion formula storage unit 17. There is. Further, in the master device 10, the transmission / reception unit 15 is connected to the network 30, and the master device 10 communicates with the slave device 20 via the network 30.

The clock unit 11 is a time measuring means, for example, a time measuring means of a type in which a time is counted by a counter based on a time pulse signal. These time pulse signals are generally generated when a time counter counted up by an oscillator of each device reaches a certain count value. However, in these oscillators, the clock of each observation device may be deviated after a long time due to manufacturing variation among oscillators or frequency change due to temperature change, and accurate event recording may not be possible.

The time synchronization processing unit 12 is connected to the clock unit 11 and the transmission / reception unit 15, generates a time measurement timing signal used for the time synchronization processing, and transmits the time measurement timing signal to the slave device 20 via the transmission / reception unit 15. Further, the transmission path delay time between the master device 10 and the slave device 20 is calculated based on the response signal from the slave device 20 received via the transmission / reception unit 15, and the time of the master device 10 is transmitted to the slave device 20. . The control processing unit 13 is connected to the clock unit 11, the received data storage unit 14, the transmission / reception unit 15, and the data analysis unit 16, and generates a control command signal to the slave device 20 based on signals from the respective units.

The reception data storage unit 14 is connected to the control processing unit 13, the transmission / reception unit 15, and the data analysis unit 16, and stores the time-stamped information received from the slave device 20 via the transmission / reception unit 15. The transmission / reception unit 15 is a transmission / reception unit on the master side, is connected to the network 30, and communicates with the slave device 20 via the network 30. The data analysis unit 16 analyzes a plurality of received data and performs predictive control, failure prediction of a control target, and the like. The time conversion formula storage unit 17 stores the time conversion formula received from the slave device 20.

  FIG. 3 shows the configuration of the slave device 20. The slave device 20 includes a transmission / reception unit 21, a time difference recognition unit 22, a clock unit 23, a time conversion formula calculation unit 24, and a clock adjustment unit 25. Further, the transmission / reception unit 21 of the slave device is connected to the network 30 and communicates with the master device 10 via the network 30.

  The transmission / reception unit 21 processes a signal transmitted from the master device 10 and also processes a signal transmitted to the master device. It is connected to the master device 10 and other slave devices 20 via the network 30, and communicates with the network device master device 10.

  The time difference recognition unit 22 is connected to the transmission / reception unit 21, the clock unit 23, and the time conversion formula calculation unit 24, performs time synchronization processing with the master device 10, and recognizes the time difference. The clock unit 23 is a clocking unit similar to the clock unit 11 on the master side, and is connected to the time difference recognition unit 22 and the clock adjustment unit 25. The clock adjustment unit 25 adjusts the degree of advancement of the clock so that the time difference with the master device 10 gradually approaches based on the time difference obtained by the time difference recognition unit 22. The time conversion formula calculation unit 24 calculates a conversion formula for calculating the time of the master device 10 from the time of the slave device 20 while the time difference from the master device 10 gradually approaches.

Next, the operation of the industrial controller system according to the first embodiment will be described.
First, the time difference recognition process between the time measuring means of the master device 10 and the time measuring means of the slave device 20 will be described. FIG. 4 shows a sequence of this time difference recognition processing. Here, the time obtained by the time measuring means incorporated in the master device 10 will be referred to as the master time, and the time obtained by the time measuring means incorporated in the slave device 20 will also be referred to as the slave time.

  When performing the time difference recognition process, first, in the master device 10, the time synchronization processing unit 12 generates a clock timing signal, and the generated clock timing signal is transmitted from the transmitting / receiving unit 15 to the slave device 20. The time synchronization processing unit 12 also acquires and stores the master time t1 at which the timing signal is transmitted from the clock unit 11.

  In the slave device 20, the transmission / reception unit 21 receives the clock timing signal via the network 30. When the clock timing signal is received, the time difference recognition unit 22 acquires the slave time t′2 when the clock timing signal is received from the clock unit 23 and stores it. The time difference recognition unit 22 also generates a response signal that stores information regarding t′2 and the current time t′3, and transmits the generated response signal from the transmission / reception unit 21 to the master device 10.

In the master device 10, the transmission / reception unit 15 receives the response signal from the slave device 20. When the time synchronization processing unit 12 receives the response signal from the slave device 20, the time synchronization processing unit 12 acquires the master time t4 when this signal is received from the clock unit 11 and stores it. The time synchronization processing unit 12 calculates the transmission path delay time Td from the stored master times t1 and t4 and the times of slave times t′2 and t′3 obtained from the signal received from the master device according to the following formula.
Td × 2 = (t4-t1)-(t'3-t'2)
The time synchronization processing unit 12 generates a delay time notification signal that stores the calculated transmission path delay time Td and the current time t5 of the master device 10, and transmits the delay time notification signal from the transmission / reception unit 15 to the slave device 20.

In the slave device 20, the time difference recognition unit 22 acquires the reception time t′6 when the delay time notification signal is received from the clock unit 23, and at the slave time t′6 from the received master time t5 and the transmission path delay time Td. The corresponding master time t6 is calculated according to the following formula.
t6 = t5 + Td
In the time synchronization system according to the present embodiment, the above-mentioned time difference recognition processing is repeated twice, the slave device side acquires slave times at two time points and master times corresponding to these slave time points, and each time point is detected. Recognize the time difference in. In the description below, it is assumed that the slave times t′1 and t′2 and the master times t1 and t2 corresponding to the slave times t′1 and t′2 are calculated.

  Next, the operation of adjusting the advance of the clock by the clock unit 23 will be described. The clock adjustment unit 25 adjusts the advance of the clock of the clock unit 23 using the master times t1 and t2 and the slaves t′1 and t′2 calculated by the time difference recognition unit 22. After the time difference recognition unit 22 calculates the master times t1 and t2, a conversion formula for calculating the time of the master apparatus 10 is calculated from the time of the slave apparatus 20 while the time difference with the master apparatus 10 is gradually approached. The clock adjustment unit 25 performs adjustment processing of the clock advance of the slave device 20 based on the calculated conversion formula, and matches the time of the master device 10 and the slave device 20 at the target time (here, master time t3). Let The adjustment process will be described in detail below.

  FIG. 5 shows an explanatory diagram of the adjustment processing of the clock advance of the slave device 20. Here, the advance of the clock refers to M / N, for example, in the case of counting the number of generations of the clock that is the source of the clock internally and enclosing the time of M nanoseconds by generating the clock N times. Through the two time difference recognition processes, the slave device recognizes the slave time t′1 corresponding to the master time t1 and the slave time t′2 corresponding to the master time t2. When the clock progress from the master time t1 to t2 is W and the clock progress of the slave device 20 from the slave time t'1 to t'2 is W'1, W and W'1 are represented by the following relational expressions. It is represented by.

  Further, when the progress degree of the clock of the slave device 20 for gradually approaching the clock so that the slave time and the master time coincide with each other at the target time (master time t3) is W'2, W'2 and W are as follows. It is expressed by the relational expression of.

上記数式（１）と数式（２）から、下記の関係式が導出される。

The following relational expressions are derived from the above mathematical expressions (1) and (2).

クロック調整部２５は、数式（３）に従ってスレーブ装置２０は時計の進みＷ'２を調整する。

The clock adjusting unit 25 adjusts the clock advance W′2 of the slave device 20 according to the equation (3).

  Next, the calculation process of the time conversion formula for converting the slave time to the master time will be described. The time conversion formula calculation unit 24 of the slave device 20 calculates a relational expression between an arbitrary slave time t'x and the master time tx corresponding to the slave time t'x. Derivation of the time conversion formula at the master time t2 is shown in FIG. In FIG. 6, the horizontal axis represents the master time and the vertical axis represents the slave time. The slave time t′1 at the master time t1 and the slave time t′2 at the master time t2 recognized by the time synchronization processing are represented by the following relational expressions.

スレーブ時刻ｔ'１からｔ'２までの期間（ｔ'１＜ｔ'ｘ＜ｔ'２）における任意のマスタ時刻ｔｘとスレーブ時刻ｔ'ｘの関係式（第１の時刻変換式）は、上記の連立一次方程式から下記の式が導出される。

The relational expression (first time conversion expression) between any master time tx and slave time t'x in the period (t'1 <t'x <t'2) from the slave time t'1 to t'2 is The following equations are derived from the above simultaneous linear equations.

同様にスレーブ時刻ｔ'２からｔ'３までの期間（ｔ'２＜ｔ'ｘ＜ｔ'３）の任意のマスタ時刻ｔｘでのスレーブ時刻ｔ'ｘの関係式（第２の時刻変換式）について、マスタ時刻ｔ２、ｔ３およびスレーブ時刻ｔ'２、ｔ'３を用いて下記のように表すことができる。

Similarly, the relational expression of the slave time t'x at the arbitrary master time tx in the period from the slave time t'2 to t'3 (t'2 <t'x <t'3) (second time conversion formula) ) Can be expressed as follows using master times t2, t3 and slave times t'2, t'3.

  The time conversion formula calculation unit 24 assigns the time conversion formula ID = 1 to the formula (5) calculated at the slave time t′2 and sends the time conversion formula ID = 1 to the master device 10 via the transmission / reception unit 21. ) Is given the time conversion formula ID = 2, and is sent to the master device 10 via the transmission / reception unit 21.

Here, the formula (5) calculated at the slave time t′2 uses the master times t1 and t2 and the slave times t′1 and t′2 recognized by the time synchronization processing, but the formula (6) is the slave. The time conversion formula is based on the premise that the master time t3 matches at time t′3, and may not be an accurate time conversion formula. The time conversion formula calculation unit 24 calculates the time conversion formula similar to the formula (6) again when the master time t3 is recognized by performing the time difference recognition process again at the slave time t′3, and the time conversion formula is calculated. ID = 2 is given and re-transmitted to the master device 10. The master device 10 recognizes that the time conversion formula is fixed when the same time conversion formula ID is received for the second time. The master time calculated by the time conversion formula received at the first time may be different from the master time calculated by the time conversion formula received at the second time, and calculated by using the time conversion formula received at the first time. When the master time is used, the continuity of time cannot be maintained.

FIG. 7 shows an example of the time difference recognition process, the time conversion type transmission, and the event detection of the slave device 20. The slave device 20 recognizes the slave time t'n corresponding to the master time tn by the time difference recognition process 1. The slave device 20 sets the time conversion formula of the section from the slave time t′n−1 to t′n as ID = n−1 and the time conversion formula of the section from t′n to t′n + 1 as ID = n. , To the master device 10.

In the next time difference recognition processing 2, the slave time t'n + 1 corresponding to the master time tn + 1 is recognized, the time conversion formula of the section from the slave time t'n to t'n + 1 is calculated, and the calculated time conversion formula is ID = The time conversion formula of the section from t′n to t′n + 1 is assigned ID = n + 1, and is transmitted to the master device 10. That is, the time conversion formula of ID = n is calculated again.

The slave device 20 detects a change in the input signal A at time t'a in the interval from slave time t'n to t'n + 1, and at time t'b in the interval from slave time t'n + 1 to t'n + 2. The change in the input signal B is detected, and the change in the input signals A and B and the change times t'a and t'b are sent to the master device 10 within the period from the slave time t'n + 1 to t'n + 2.

The master device 10 accurately converts the change time t'a of the input signal A into the master time by the time conversion formula of ID = n received the second time, but receives the change time t'b of the input signal B the first time. It is converted to the master time including an error by the time conversion formula of ID = n + 1. In order to convert the change time t′b of the input signal B into an accurate master time, recalculation is performed when the time conversion formula ID = n + 1 is received for the second time, which is generated in the next time synchronization process.

As described above, when the master device 10 wants to accurately recognize the occurrence time of the event detected by the slave device 20, the master device 10 uses the time conversion formula received for the second time to convert the master time to the master time.

When the master device 10 instructs the slave device 20 to perform control at a designated time, the operation at the slave time is instructed. For example, the output signal Y1 may be output to the slave device 20 at time t1, and the output signal Y2 may be output at time t1 + 100 microseconds.

As described above, in the industrial controller system according to the present embodiment, it is possible to maintain the continuity of the slave time, and the master can obtain the time when the known deviation is corrected from the slave time. As a result, the data detected by the slave device 20 can be analyzed more accurately, and the accuracy of device failure prediction and the like based on the data analysis can be improved.

Embodiment 2.
In the first embodiment, the case where the clock advance of the master device 10 is constant has been described, but in the present embodiment, the master device 10 performs the time synchronization process with the time server (time correction device) on the external network. The case of adjusting the advance of the clock of the master device 10 will be described. FIG. 8 is a block diagram showing the configuration of the industrial controller system according to the second embodiment.

FIG. 9 shows the internal configuration of the master device 10 in FIG. In addition to the configuration shown in FIG. 2, the master device 10 includes a transmission / reception unit 18a1 (master side transmission / reception unit) that communicates with a time server for time synchronization processing, and a time difference recognition unit 18a2 (which recognizes a time difference between the time server and the time server). (Master-side time difference recognition unit), a clock adjustment unit 18a3 (master-side clock adjustment unit) that adjusts the advance of the clock of the clock unit 11 based on the recognized time difference, and a time that calculates a time conversion formula from the master time to the time server time. The conversion formula calculation unit 18a4 (master side time conversion formula calculation unit) is provided. It should be noted that the configurations denoted by the same reference numerals as the configurations shown in FIG. 2 have the same or similar configurations, and the description thereof will be omitted.

The internal configuration of the slave device 20 in FIG. 8 is shown in FIG. The slave device 20 includes a time conversion formula storage unit 26 for storing a time conversion formula from the master time to the time server time in addition to the configuration of FIG. Note that the same reference numerals as the configuration shown in FIG. 3 are the same or similar configurations, and a description thereof will be omitted.

FIG. 11 shows the time difference recognition processing and the correction processing of each of the master device 10, the slave device 20, and the time server 40. The master device 10 and the time server 40 recognize the master time t′1 at the time server time t1 and the master time t′3 at the time server time t3 by the time difference recognition process. The time difference recognition process is the same as that shown in the first embodiment, and the description thereof is omitted.

Using these times, the master device 10 adjusts the clock of the master device 10 so that the time server and the master time coincide with each other at the time server time t5, as in the method of adjusting the advance of the clock of the slave device 20 shown in FIG. The advance is adjusted, the time conversion formula is calculated from the master time to the time server time, and the time conversion formula is sent to the slave device 20, in the same manner as the derivation of the time conversion formula from the slave time to the master time shown in FIG. To do.
The time conversion formula from the master time to the time server time in the period (t'1 <t'x <t'3) from slave time t'1 to t'3 is as follows.

同様に、スレーブ時刻ｔ'３からｔ'５までの期間（ｔ'３＜ｔ'ｘ＜ｔ'５）におけるマスタ時刻からタイムサーバ時刻への時刻変換式は下記となる。

Similarly, the time conversion formula from the master time to the time server time in the period (t'3 <t'x <t'5) from slave time t'3 to t'5 is as follows.

Next, the slave device 20 and the master device 10 recognize the slave time t ″ 2 at the master time t′2 and the slave time t ″ 4 at the master time t′4 by the time difference recognition process. Since the master time is being adjusted to match the time server time, adjustment of the clock of the slave device 20 does not match the master time, but the clock of the slave device 20 advances so as to match the time server time. Adjust. Therefore, the time server time t2 at the slave time t ″ 2 and the slave time t ″ at the slave time t ″ 2 are calculated using the time conversion formulas (Formulas (7) and (8)) from the master time to the slave time received from the master device 10. The time server time t4 in 4 is calculated.

In order to match the time server time and the slave time at the time server time t ″ 6, the clock of the slave device 20 advances from the slave time t ″ 2 to the slave time t ′ in the same manner as the calculation method shown in FIG. If the clock advance to '4 is W ″ 1 and the adjusted clock advance is W ″ 2, it is expressed by the following formula.

クロック調整部２５は、数式（９）に従ってスレーブ装置２０は時計の進みＷ''２を調整する。

The clock adjustment unit 25 adjusts the clock advance W ″ 2 of the slave device 20 according to the equation (9).

The slave device 20 calculates a time conversion formula from the slave time to the time server time, and transmits it to the master device 10. Relational expression of time server time tx and slave time t ″ x in the period (t ″ 2 <t ″ x <t ″ 4) from slave time t ″ 2 to t ″ 4 Is represented by the following formula.

また、スレーブ時刻ｔ''４からｔ''６までの期間（ｔ''４＜ｔ''ｘ＜ｔ''６）における任意のタイムサーバ時刻ｔｘとスレーブ時刻ｔ''ｘの関係式時刻変換式は下記の式で表される。

Further, the relational expression time between the arbitrary time server time tx and the slave time t ″ x in the period (t ″ 4 <t ″ x <t ″ 6) from the slave time t ″ 4 to t ″ 6. The conversion formula is represented by the following formula.

  The master device 10 uses the time conversion formulas (formula (10) and formula (11)) received from the slave device 20 to perform time analysis such as data analysis on the time stamped data received from the slave device 20. On the other hand, the slave time is converted into a time server time and used.

As described above, in the control system according to the present embodiment, in addition to the effect of the first embodiment, the clock advance of the slave device 20 is not the clock advance of the master device 10 but the clock advance of the time server 40. It becomes possible to perform the adjustment, and the time synchronization can be performed at high speed without being affected by the adjustment of the advance of the clock of the master device 10.

10 master device, 11 clock unit, 12 time synchronization processing unit, 13 control processing unit, 14 received data storage unit, 15 transmission / reception unit, 16 data analysis unit, 17 time conversion expression storage unit, 18a1 (master side) transmission / reception unit, 18a2 (Master side) time difference recognition unit, 18a3 (Master side) clock adjustment unit, 20 slave device, 21 transmission / reception unit, 22 time difference recognition unit, 23 clock unit, 24 time conversion formula calculation unit, 25 clock adjustment unit, 26 time conversion formula Storage, 30 network, 40 time server

Claims (5)

A industrial controller system comprising a slave device having a master device and a timekeeping unit for the slave with the master timekeeping means connected via a network,
The master device is
A master-side transceiver that transmits and receives signals to and from the slave device,
A time synchronization processing unit for generating a timing timing signal and transmitting it to the slave device via the master side transmitting / receiving unit,
The slave device is
A slave-side transceiver that transmits and receives signals to and from the master device,
And on the basis of the said counting timing signal received from the master device, the slave timekeeping means and the time difference recognition unit for determining the time difference between the clock means master,
A clock adjustment unit that gradually adjusts the time advance of the slave clocking means so that the adjustment is completed at a predetermined target time based on the time difference obtained by the time difference recognition unit;
To the master device via the slave side transmitting / receiving unit by calculating a time conversion formula for calculating the time of the master time measuring unit from the time of the slave time measuring unit while the clock adjusting unit gradually adjusts and a time conversion formula calculating unit for transmitting a pre SL at time conversion formula,
The master device to control the slave device based on the previous SL at time conversion formula for receiving from the slave device,
Industrial controller system characterized by. The master device is connected to a time correction device having a time measuring means,
The master device, said receive timing timing signal, the time correction device and the master-side time difference recognition unit for determining the time difference between the time counting means master from the time correction device,
A master-side clock adjustment unit that gradually adjusts the time advance of the master timekeeping unit based on the time difference obtained by the master-side time difference recognition unit;
The industrial controller system according to claim 1, further comprising: It said time conversion formula calculating unit, when the elapsed time for the previous SL at time conversion formula, again, to calculate the previous SL at time conversion formula, and transmitted to the master device before SL at time conversion formula calculated again ,
The master device to control the slave device based on the time conversion formula the calculated again,
The industrial controller system according to claim 1 or 2, characterized in that: The time synchronization processing unit, wherein the master timekeeping means based on the response signal from the slave device, the slave device and the master device and the transmission path delay is calculated to time, calculates the transmission line delay time between the To the slave device,
The time difference recognition unit, the time based on the transmission path delay time calculated by the synchronization processing unit, to determine the time difference between the time counting means for the said slave timekeeping means master,
The industrial controller system according to any one of claims 1 to 3, wherein: The time conversion formula calculating unit of the slave device is configured to calculate the second time conversion equation the adjustment using the time difference between the clock means and the master timekeeping means for the slave in the completed goal time, the slave-side Transmitting the second time conversion formula to the master device via a transmission / reception unit,
When the master device receives the second time conversion formula, the master device converts the occurrence time of the event detected by the slave side to the master time using the second time conversion formula.
The industrial controller system according to any one of claims 1 to 4, wherein:

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