JP6925712B2 - Control device and control system - Google Patents

Description

An embodiment of the present invention relates to a control device and a control system in which a production facility takes measures against an abnormality detected during automatic operation control.

In production equipment for plastic working materials in the industrial field, various actuators are controlled by a control device called a programmable controller, and automatic control is performed by an application program.

We know the technology related to the execution processing of the control device when an error occurs by executing an application program while the production equipment is operating under automatic control by the control device, or when an error occurs in the input / output processing with the outside. (See Patent Document 1 etc.).

Patent Document 1 discloses the following techniques. That is, a means for executing an error processing program with the highest priority, a means for stopping the entire program, a means for stopping the execution of a program in which an error occurs, a means for prohibiting access to external input / output, and an application program in which an error occurs. It is a reduction processing means that prohibits the execution of.

However, in such a technology, the degree of influence on the automatic operation by the input / output card for which an error is detected in the input / output process is treated uniformly, and the manual operation signal unnecessary for the automatic operation and the urgency are low. Even if there is an error during input / output processing such as display signals, the error will be down. On the other hand, some control devices have a function that enables selection setting of control continuation or control stop only by issuing an error when an error occurs in each input / output card group, but automatic or manual operation is performed. There is no option considering the state.

Japanese Unexamined Patent Publication No. 4-33105

As described above, in the past, when an error occurred due to input / output with an external device, the automatic operation was stopped even when the automatic operation could be continued. There are problems such as causing damage.

An embodiment according to the present invention is a control device and a control system capable of continuing automatic operation in response to an influence on automatic operation control due to the abnormality when an abnormality occurs in input / output with a controlled device. The purpose is to provide.

The control device according to the embodiment includes a first card that converts a signal for automatically controlling the controlled device and data in a predetermined format, a signal for manually controlling the controlled device, and a predetermined format. A data transfer control unit that controls the transfer of data between the second card that converts the data and the first card and controls the transfer of data between the second card and the first card. Processing when a monitoring unit that monitors the presence or absence of an abnormality in data transfer between the card and the data transfer control unit and an abnormality in data transfer between the first card and the data transfer control unit are detected. It includes an input / output control device including a processing setting table in which the contents and the processing contents when an abnormality in data transfer between the second card and the data transfer control unit is detected are set. In the case of the automatic operation control, when the processing setting table detects an abnormality in data transfer between the first card and the data transfer control unit, the second card and the data transfer control unit It is set to stop or continue the automatic operation control regardless of the presence or absence of an abnormality in data transfer between the two, and in the case of the manual operation control, between the second card and the data transfer control unit. when an abnormality is detected in the exchange of data is with the or without abnormality of exchange data manual operation control to stop or continue to set between the first card and the data transfer control unit.

In the present embodiment, since the monitoring unit for monitoring the presence or absence of an abnormality in data transfer between the first card and the data transfer control unit is provided, the data abnormality can be detected. Since it is provided with a processing setting table in which processing contents are set when an abnormality in data transfer is detected, it is possible to continue automatic operation according to the influence of the abnormality on automatic operation control.

It is a schematic block diagram which illustrates the control device which concerns on 1st Embodiment. It is a schematic diagram which illustrates a part of the control device of an embodiment. This is an example of a flowchart for explaining the operation of the control device of the embodiment. It is a schematic block diagram which illustrates the control device which concerns on 2nd Embodiment.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
The drawings are schematic or conceptual, and the relationship between the thickness and width of each part, the ratio of the sizes between the parts, and the like are not necessarily the same as the actual ones. Further, even when the same parts are represented, the dimensions and ratios may be different from each other depending on the drawings.
In the specification of the present application and each of the drawings, the same elements as those described above with respect to the above-described drawings are designated by the same reference numerals, and detailed description thereof will be omitted as appropriate.

(First Embodiment)
FIG. 1 is a schematic block diagram illustrating a control device according to an embodiment.
As shown in FIG. 1, the control device 101 of the present embodiment includes an input / output control device 30, input cards 41 and 42, and output cards 43 and 44. Further, the control device 101 includes an arithmetic processing unit 20 connected to the input / output control device 30, and the arithmetic processing unit 20 is operated by the application program 10. The application program 10 is stored in, for example, a storage device (not shown), and is timely expanded and executed by the arithmetic processing unit 20.

The input / output control device 30 is connected to the input cards 41 and 42 and the output cards 43 and 44. The input / output control device 30 receives the data transmitted from the input cards 41 and 42, and the arithmetic processing unit 20 performs a predetermined process under the control of the application program 10. The input / output control device 30 supplies the data processed and generated by the arithmetic processing unit 20 to the output cards 43 and 44.

The input cards 41 and 42 and the output cards 43 and 44 input and output signals related to the control of the controlled device n (not shown) in this example. The controlled device n is manually operated or automatically controlled based on the signals input / output to the input cards 41 and 42 and the output cards 43 and 44.

The input card 41 has an input port into which a manual operation signal is input in this example. The manual operation signal is, for example, a start signal generated by a push button switch or the like. The input card 41 inputs a manual operation signal, generates manual operation data, and transmits the manual operation data to the input / output control device 30.

In this example, the input card 42 has an input port for inputting a feedback signal supplied from the controlled device n. The feedback signal is generated, for example, when the controlled device n reaches a specific position. The input card 42 inputs a feedback signal, generates feedback data, and transmits the feedback data to the input / output control device 30. The feedback signal is, for example, a continuity signal of a limit switch generated when the controlled device n reaches a predetermined position.

In this example, the output card 43 has an output port that supplies an operation signal to the controlled device n. When the operation signal is input to, for example, the control target device n, the control target device n is activated and the operation is started. The output card 43 receives the operation data for the control target device n from the input / output control device 30, converts it into an operation signal corresponding to the control target device n, and outputs the operation signal.

In this example, the output card 44 has an output port that outputs an operation status display signal for displaying the operation status of the controlled device n. For example, the operation status display signal turns on the display lamp or the like during the period in which the control target device n receives the operation signal and operates. The output card 44 inputs the display data supplied from the input / output control device 30, converts it into an operation status display signal, and outputs it.

The input cards 41, 42 and the output cards 43, 44 preferably have a self-diagnosis function. When an abnormality occurs in the input cards 41, 42 and the output cards 43, 44, the self-diagnosis function transmits data (for example, a flag) to that effect to the input / output control device 30. Further, as will be described later, the input / output control device 30 has a monitoring function 30b, and the monitoring function 30b detects abnormalities in the input cards 41 and 42 and the output cards 43 and 44 and performs appropriate processing. ..

The input cards 41, 42 and the output cards 43, 44 are not limited to the above, and may be configured to send and receive a larger number of input signals and output signals to one controlled device. Alternatively, one input card or one output card may correspond to one controlled device. Further, as an example, a case of controlling one control target device n will be described, but it is said that the control device 101 can control a plurality of control target devices by using one or more cards each. Not to mention.

The input / output control device 30 includes a data transfer control unit 30a, a monitoring function 30b, and a processing setting table 30c.

The data transfer control unit 30a controls the transfer of data between the input cards 41 and 42 and the output cards 43 and 44 under the control of the arithmetic processing unit 20 operated by the application program 10.

The monitoring function 30b monitors whether or not there is an abnormality in each data input / output between the data transfer control unit 30a and the input cards 41 and 42 and the output cards 43 and 44. For example, the monitoring function 30b generates an error when the data that should be originally input or output is not input or output by the application program 10. For example, the monitoring function 30b performs connection diagnosis between the data transfer control unit 30a and the input cards 41, 42 and the output cards 43, 44 at a fixed cycle or an indefinite cycle, and if an abnormality is detected, an error is generated. Generate. For example, the monitoring function 30b also generates an error when an abnormality is detected by the self-diagnosis function of the input cards 41, 42 and the output cards 43, 44.

When the monitoring function 30b generates an error, the monitoring function 30b issues an error to the arithmetic processing unit 20 together with the address of the card that caused the error. Upon receiving the error notification and the card address, the arithmetic processing unit 20 determines the processing according to the settings in the processing setting table 30c.

In the processing setting table 30c, the processing of each of the input cards 41 and 42 and the output cards 43 and 44 when an error is generated by the monitoring function 30b is set.

As shown in FIG. 2, the processing setting table 30c includes a plurality of setting fields. The setting field includes a control target device setting field 31a, an error occurrence card name setting field 31b, a manual operation control processing setting field 31c, and an automatic operation control processing setting field 31d.

In the control target device setting field 31a, the name of the device to be controlled by the control device 101 is set. As in this example, it may be a code representing a device.

The name of each card is set in the error occurrence card name setting field 31b. It may be a code representing a card.

In the manual operation control process setting field 31c, a process is set when an error occurs in each card in the case of manual operation control. In this example, when an error occurs in the input card 41, the manual operation control is stopped. This field may not be set. For example, when the output cards y and y + 1 are cards that are not used for manual operation control, it is not necessary to define the processing settings for manual operation control.

In the automatic operation control process setting field 31d, a process is set for each card when an error occurs in each card in the case of automatic operation control. In this example, if an error occurs in the input card 41, the automatic operation is continued. For example, when the input card 41 is a start signal by a push button switch, this signal is not used in the automatic operation control. Therefore, for example, even when an error is issued by the self-diagnosis function of the input card 41, when the automatic operation control is operating, the control device 101 continues to operate regardless of the error.

For example, when the input card 42 processes the feedback signal of the control target device n, the error of the feedback signal may cause a problem in the automatic operation control, so that the automatic operation control is stopped.

The name of each card is associated with the address of each card. That is, each card is associated with each set value of the controlled device, the manual operation control process setting, and the automatic operation process setting. Therefore, when the monitoring function 30b issues an error, the control device 101 can determine whether the processing is stopped or continued by designating the address of the target card.

Each process of the process setting table 30c is set in advance. On the other hand, there may be cases where the processing contents of the table should be changed depending on the operation results of the plant. The control device 101 of the present embodiment is connected to a computer terminal via the communication network 1. The settings of each process in the process setting table 30c can be updated by the maintenance tool 2 running on the computer terminal. In addition to setting the processing setting table 30c, the maintenance tool 2 can edit other programs and set various data.

The operation of the control device of this embodiment will be described.
FIG. 3 is an example of a flowchart for explaining the operation of the control device of the present embodiment.
As shown in FIG. 3, in step S1, the control device 101 selects whether the processing for control is a manual operation control process or an automatic operation control process. The operator selects either the manual operation control process or the automatic operation control process, for example, through an operation panel or the like. Alternatively, this selection is executed when the desired conditions are satisfied by the application program 10.

If the manual operation control process is selected in step S1, the program process transitions to step S2.

In step S2, the arithmetic processing unit 20 executes the manual operation control processing of the controlled device n according to the application program 10. In the example described with reference to FIG. 1, for example, a manual operation signal is input to the input card 41, and the input card 41 generates manual operation data based on the manual operation signal and transmits the manual operation data to the input / output control device 30.

In step S3, the monitoring function 30b monitors the presence or absence of an error in data transfer between any of the input cards 41 and 42 and the output cards 43 and 44 and the data transfer control unit 30a. If an error is detected, the program processing proceeds to the next step S4. If no error is detected, the program processing proceeds to the first step S1.

In step S4, the monitoring function 30b issues error information. The error information includes the address of the card that caused the error and data representing the error. This error information is transmitted to the arithmetic processing unit 20. The arithmetic processing unit 20 that has received the error information accesses the processing setting table 30c.

In step S5, the arithmetic processing unit 20 reads out the set value in the manual operation control of the card corresponding to the address of the card in which the error occurred.

In step S6, the arithmetic processing unit 20 determines the set value of the processing setting table 30c. When the set value of the process setting table 30c is "stop", the program process is shifted to step S7. When the set value of the process setting table 30c is "continue", the program process is shifted to the first step S1.

In step S7, the arithmetic processing unit 20 refers to the setting contents of the processing setting table 30c according to the error information issued from the monitoring function 30b, and when an error occurs in the input card 41, for example, the controlled device. The manual operation control for n is invalidated and stopped.

After that, the process returns to the first step S1 and the program processing is executed.

When the automatic operation control process is selected in step S1, the program process is transitioned to step S8.

In step S8, the arithmetic processing unit 20 executes the automatic operation control processing of the controlled device n according to the application program 10.

In step S9, the monitoring function 30b monitors the presence or absence of an error in data transfer between any of the input cards 41 and 42 and the output cards 43 and 44 and the data transfer control unit 30a. If an error is detected, the process proceeds to the next step S10. If no error is detected, the program processing proceeds to the first step S1.

In step S10, the monitoring function 30b issues error information. The error information includes the address of the card that caused the error and data representing the error. This error information is transmitted to the arithmetic processing unit 20. The arithmetic processing unit 20 that has received the error information accesses the processing setting table 30c.

In step S11, the arithmetic processing unit 20 reads out the set value in the automatic operation control of the card corresponding to the address of the card in which the error is detected.

In step S12, the arithmetic processing unit 20 determines the set value of the processing setting table 30c. When the set value of the process setting table 30c is "stop", the program process is shifted to step S13. When the set value of the process setting table 30c is "continue", the program process is shifted to the first step S1.

In step S13, the arithmetic processing unit 20 refers to the processing setting table 30c according to the error information issued from the monitoring function 30b, and when an error occurs in the input card 41, for example, the control target device n Continue automatic operation control.

After that, the process returns to the first step S1 and the program processing is executed.

In this way, when the control device 101 of the present embodiment detects that there is an abnormality in the input / output data, the control device 101 selects whether to continue or stop the processing according to the information set in the processing setting table 30c. Can be done. In addition, in FIG. 3, the fact that steps S5 and S6 and steps S11 and S12 are close to each other indicates that these operations are closely linked.

The effect of the control device 101 of the present embodiment will be described.
The control device 101 of the present embodiment includes an input / output control device 30 including a monitoring function 30b and a processing setting table 30c. The monitoring function 30b monitors whether or not there is an abnormality in data transfer between the data transfer control unit 30a and the input cards 41 and 42 and the output cards 43 and 44. In the process setting table 30c, the content of the process when there is an abnormality in the transfer of data is set for each card. The processing setting table 30c is set for processing at the time of abnormality in both the case of manual operation control and the case of automatic operation control. When an abnormality of a card that is not directly related to the automatic operation control is detected in the processing setting table 30c, the automatic operation control can be continued by setting the automatic operation control to be continued.

Therefore, even if an abnormality occurs in the input / output with the controlled device, the automatic operation can be continued and the automatic operation control is not stopped. Therefore, the product being manufactured is regarded as a semi-finished product. It is possible to reduce the next loss and damage to the equipment depending on the position of the material during production.

(Second Embodiment)
FIG. 4 is a schematic block diagram illustrating a control device according to the present embodiment.
FIG. 4 also shows a control system 200 including the control devices 201a and 201b of the present embodiment. When operating production equipment by controlling various equipment in a plant, the equipment to be controlled is often arranged in a wide range. In such a case, it is necessary to separately provide a control device in a local control panel or the like in the vicinity of each device, and control the entire equipment by the main control panel including the present control panel including the local control panel.

As shown in FIG. 4, the control system 200 includes control devices 201a and 201b. The control devices 201a and 201b are connected to each other by a transmission means 211 including a communication network. The transmission means 211 may be by wire communication or by wireless communication.

The control device 201a is different from the control device 101 of the other embodiment described above in that the transmission device 50a is further provided. Further, the control device 201b is different from the control device 101 in the case of other embodiments in that the transmission device 50b is further provided, and is also different in that the input / output control device 230 is provided. The control devices 201a and 201b are the same as those of the control device 101 with respect to other components, and the same components are designated by the same reference numerals and detailed description thereof will be omitted as appropriate.

The control device 201a further includes a transmission device 50a. The transmission device 50a includes a storage unit 51a. The transmission device 50a is connected to the input / output control device 30. The transmission device 50a is connected to the control device 201b via another transmission device 50b, as will be described later.

The transmission device 50a can transmit and receive data input / output from the input / output control device 30 to and from the transmission device 50b of the control device 201b via the transmission means 211.

The storage unit 51a of the transmission device 50a can store data including information about the input cards 411 and 422 and the output cards 433 and 444 on the control device 201b side. For example, the storage unit 51a registers the addresses of the input cards 411 and 422 and the output cards 433 and 444, and stores the data associated with each address. The data includes error information data regarding the input cards 411 and 422 and the output cards 433 and 444.

The control device 201b includes a transmission device 50b, an input / output control device 230, input cards 411 and 422, and output cards 433 and 444. The transmission device 50b is connected to the above-mentioned transmission device 50a via the transmission means 211. The input cards 411 and 422 and the output cards 433 and 444 are connected to the transmission device 50b via the input / output control device 230.

In this example, the input cards 411 and 422 and the output cards 433 and 444 input and output signals corresponding to the control target device m different from the control target device n. For example, the input card 411 inputs a manual operation signal of the control target device m. The input card 422 inputs the feedback signal of the control target device m. The output card 433 outputs an operation signal to the control target device m. The output card 444 outputs an operation status signal of the control target device m.

The input / output control device 230 includes a data transfer control unit 30a and a monitoring function 30b. The monitoring function 30b monitors whether or not there is an abnormality in data transfer between the data transfer control unit 30a and the input cards 411 and 422 and the output cards 433 and 444.

When the monitoring function 30b detects an error that is an abnormality in data transfer, it supplies the address of the card that caused the error and data indicating that the error has occurred to the transmission device 50b. These data are stored in the storage unit 51b of the transmission device 50b.

The storage unit 51b of the transmission device 50b can store data including information about the input cards 411 and 422 and the output cards 433 and 444. The data stored in the storage unit 51b is the same as the data stored in the storage unit 51a of the transmission device 50a. The data related to the error information of each card stored in the storage unit 51b is shared with the storage unit 51a.

The operation of the control system 200 and the control devices 201a and 201b of the present embodiment will be described.
In the control system 200 of the present embodiment, the control device 201b is connected to the control device 201a via the transmission means 211. The transmission devices 50a and 50b are used for connecting the control devices 201a and 201b to each other.

The control device 201b has an input card 411, 422 and an output card 433, 444, and when viewed from the control device 201a, the control device 2011, is similar to the input cards 41, 42 and the output cards 43, 44. The 422 and the output cards 433 and 444 are operated, and an error is detected.

The storage units 51a and 51b share and store data including information about the input cards 411 and 422 and the output cards 433 and 444 of the control device 201b. The addresses of the input cards 411 and 422 and the output cards 433 and 444 and the error information of the input cards 411 and 422 and the output cards 433 and 444 are stored in the storage units 51a and 51b in association with each other. Therefore, the input / output control device 30 of the control device 201a can recognize the states of the input cards 411 and 422 and the output cards 433 and 444, similarly to the input cards 41 and 42 and the output cards 43 and 44.

Information regarding the processing of all the input cards 41, 42, 411, 422 and the output cards 43, 44, 433, 444 is set in the processing setting table 30c. The arithmetic processing unit 20 of the control device 201a reads the address of the card in which the error is detected, refers to the setting contents of the processing setting table 30c, and executes the processing according to the manual or automatic operation state.

More specifically, for example, when an error occurs in the input card 411 to which the manual operation signal is input, the monitoring function 30b indicates that the error has occurred in the address of the input card 411 of the storage unit 51b of the transmission device 50b. Store the data of.

The transmission device 50b transmits the data of the storage unit 51b to the transmission device 50a. In the transmission device 50a, the data of the storage unit 51a is updated with the data of the storage unit 51b.

The monitoring function 30b of the control device 201a recognizes that an error has been detected in the input card 411 and issues error information.

The arithmetic processing unit 20 executes the processing contents of the processing setting table 30c read by the monitoring function 30b.

In this way, in the control system 200 of the present embodiment, the state of each card provided in the control device 201b set at a remote location is changed to each card provided in the control device 201a via the transmission means 211. Can be recognized in the same way as the state of.

The effects of the control system 200 and the control devices 201a and 201b of the present embodiment will be described.
The control system 200 and the control devices 201a and 201b of the present embodiment include transmission devices 50a and 50b. The transmission devices 50a and 50b connected by the transmission means 211 have storage units 51a and 51b, respectively, and store the state of each card in association with the address of each card. Therefore, the control device 201a can detect an abnormality in the transfer of data for all the cards even when the control device 201b is provided at a remote location, and according to the setting of the processing setting table 30c, the control device 201a can detect an abnormality. Appropriate processing can be selected.

In the above description, the case where one control device 201a connects the other control device 201b by the transmission devices 50a and 50b to operate the control device 201a has been described. When one control device 201a operates another remote (local) control device, it is of course possible to connect and operate a plurality of control devices 201b. In such a case, the processing setting table 30c is set to process when an error occurs in all the cards connected to the plurality of control devices 201b.

According to the embodiment described above, when an abnormality occurs in the input / output with the controlled device, the control device can continuously execute the automatic operation according to the influence of the abnormality on the automatic operation control. And control system can be realized.

Although some embodiments of the present invention have been described above, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other embodiments, and various omissions, replacements, and changes can be made without departing from the gist of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are also included in the scope of the invention and its equivalents described in the claims. Moreover, each of the above-described embodiments can be implemented in combination with each other.

10 application program, 20 arithmetic processing unit, 30,230 input / output control device, 30a data transfer control unit, 30b monitoring function, 30c processing setting table, 41,42,411,422 input card, 43,44,433,444 output Card, 101, 201a, 201b control device, 200 control system

Claims (3)

The first card that converts the signal for automatic operation control of the controlled device and the data in a predetermined format, and
A second card that converts a signal for manually controlling the controlled device and data in a predetermined format, and
A data transfer control unit that controls the transfer of data to and from the first card and controls the transfer of data to and from the second card.
The presence or absence of an abnormality in data transfer between the first card and the data transfer control unit is monitored, and the presence or absence of an abnormality in data transfer between the second card and the data transfer control unit is monitored. With the monitoring department
Processing content when an abnormality in data transfer between the first card and the data transfer control unit is detected, and a case where an abnormality in data transfer between the second card and the data transfer control unit is detected. Processing setting table that sets the processing contents of
I / O control device including
With
The processing setting table is
In the case of the automatic operation control, when an abnormality in data transfer between the first card and the data transfer control unit is detected, data transfer between the second card and the data transfer control unit is detected. It is set to stop or continue the automatic operation control regardless of the presence or absence of abnormality.
In the case of the manual operation control, when an abnormality in data transfer between the second card and the data transfer control unit is detected, data transfer between the first card and the data transfer control unit is detected. the manual operation control to stop or continue to set irrespective of the presence or absence of abnormality and the control device. A transmission device connected to the input / output control device and including a storage unit is further provided.
The storage unit stores information data about a third card connected to another node of the transmission means including the communication network connected to the transmission device.
The process set table, according to claim 1 Symbol placement of the control device was set processing contents when containing data representing an abnormality in the data of the information relating to the third card. The first card that converts a signal for automatic operation control of the first controlled device and data in a predetermined format, and
A second card that converts a signal for manually controlling the first controlled device and data in a predetermined format, and
A first data transfer control unit that controls the transfer of data to and from the first card and controls the transfer of data to and from the second card.
Monitors the presence or absence of abnormalities in data transfer between the first card and the first data transfer control unit, and abnormalities in data transfer between the second card and the first data transfer control unit. The first monitoring unit that monitors the presence and absence,
The processing content when an abnormality in data transfer between the first card and the first data transfer control unit is detected is set, and the data between the second card and the first data transfer control unit is set. A processing setting table that sets the processing contents when an abnormality in the transfer of
1st input / output control device including
The first transmission device connected to the first input / output control device and
1st controller including
A third card that converts a signal for automatic operation control of the second controlled device and data in a predetermined format, and
A fourth card that converts a signal for manually controlling the second controlled device and data in a predetermined format, and
A second data transfer control unit that controls the transfer of data to and from the third card and controls the transfer of data to and from the fourth card.
Monitors the presence or absence of abnormalities in data transfer between the third card and the second data transfer control unit, and abnormalities in data transfer between the fourth card and the second data transfer control unit. The second monitoring unit that monitors the presence and absence,
2nd input / output control device including
The second transmission device connected to the second input / output control device and
2nd control device including
With
The first transmission device stores the presence or absence of an abnormality in data transfer between the third card and the second data transfer control unit transmitted from the second transmission device via a transmission means, and also Includes a first storage unit that stores the presence or absence of abnormalities in data transfer between the fourth card and the second data transfer control unit.
The second transmission device stores the presence or absence of an abnormality in data transfer between the third card and the second data transfer control unit, and between the fourth card and the second data transfer control unit. Includes a second storage unit that stores the presence or absence of abnormal data transfer
The processing setting table sets the processing content when an abnormality in data transfer between the third card and the second data transfer control unit is detected, and the fourth card and the second data transfer control. Set the processing content when an abnormality in the exchange of data with the department is detected,
In the case of the automatic operation control, when an abnormality in data transfer between the first card and the first data transfer control unit is detected, between the second card and the first data transfer control unit. It is set to stop or continue the automatic operation control regardless of whether or not there is an abnormality in the transfer of data.
In the case of the manual operation control, when an abnormality in data transfer between the second card and the first data transfer control unit is detected, between the first card and the first data transfer control unit. It is set to stop or continue the manual operation control regardless of whether or not there is an abnormality in the transfer of data.
In the case of the automatic operation control, when an abnormality in data transfer between the third card and the second data transfer control unit is detected, between the fourth card and the second data transfer control unit. It is set to stop or continue the automatic operation control regardless of whether or not there is an abnormality in the transfer of data.
In the case of the manual operation control, when an abnormality in data transfer between the fourth card and the second data transfer control unit is detected, between the third card and the second data transfer control unit. setting a control system that is or to continue stopping the manual operation control regardless of presence or absence of an abnormality in the data exchange.

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