JP7063222B2 - Control systems, support devices and programs - Google Patents

Description

This disclosure relates to a control system, a support device, and a program applied to an FA (Factory Automation) system provided at a manufacturing site or the like.

In many FA systems at manufacturing sites, the introduction of safety systems is progressing in order to use equipment and machines safely. The safety system is intended to provide safety functions in accordance with international standards, and is composed of safety components such as a safety controller, a safety sensor, a safety switch, and a safety relay.

Safety systems are also required to provide safety functions for drive devices such as servomotors that drive equipment and machines. In order to realize this safety function, the servo driver that controls the drive device executes a safety program. At run time, the safety program refers to a set of parameters. Such a set of parameters is provided by being downloaded to the driver device.

For example, Non-Patent Document 1 proposes FSoE (Safety over EtherCAT), which is a mechanism for mixing safety control data related to a safety system with data on an EtherCAT (registered trademark: EtherCAT for Automation Technology, EtherCAT) communication path.

"EtherCAT Protocol Enhancements, Amends to ETG.5100 FSoE Specification, Document: ETG.5120 S (R) V1.1.0", EtherCAT Technology Group, 2017-0

Non-Patent Document 1 discloses a mechanism in which the Configuration Tool transfers (downloads) the parameters of the SRA (Safety-Related Application Parameter Set) referred to by the safety program at the time of execution to the FSoE slave which is the servo driver. The developer or user of the safety system wants to transfer (upload) the parameters from the FSoE slave to the Configuration Tool and acquire the transferred parameters. However, Non-Patent Document 1 does not provide such a mechanism for uploading SRA parameters.

One object of the present disclosure is to provide control systems, support devices and programs that provide an environment for transferring the parameters referenced by the safety program.

The control system according to an example of the present disclosure includes a first controller, a drive device for driving a motor according to a first command from the first controller, and a second command for operating a safety function for the drive device. The drive device executes the safety program according to the second command while referring to the parameter group, and includes the second controller and the support device that can be connected to the first controller. Contains a first storage area for storing the parameter group, transfers the parameter group of the first storage area to the support device according to a request received from the support device, and the second controller receives from the support device. A second storage area for storing the parameters to be transferred to the support device according to the request to be made is included.

According to this disclosure, the support device sends a request to the first controller and the second controller to set parameters from a plurality of routes of the first controller side route and the second controller side route. Can be received.

In the above disclosure, the second controller stores a group of parameters that have been reduced in size so that they can be restored by the support device in the second storage area.

According to this disclosure, the capacity of the second storage area may be a size capable of storing a reduced size parameter group, and the memory consumption in the second controller can be suppressed.

In the above disclosure, the support device includes a collating unit that collates the parameter group of the first storage area from the first controller and the parameter group of the second storage area from the second controller, and the result of the collation. Therefore, one of the parameter group of the first storage area and the parameter group of the second storage area is selected, and the selected parameter group is restored.

According to this disclosure, the support device can collate the received parameter groups with each other and selectively restore one of them.

In the above disclosure, the second controller further includes, from the parameter group of the second storage area, an area for storing the second data indicating the validity of the parameter group calculated according to a predetermined formula, and collates. The unit collates the first data indicating the validity of the parameter group calculated according to the predetermined formula from the parameter group of the first storage area with the second data received from the second controller.

According to this disclosure, the collating unit can select one of the parameter groups by collating the data showing the validity of each of the two parameter groups.

In the above disclosure, the control system further comprises a network for sharing data between the first controller, the drive device and the second controller, and the second command is a second controller and drive. It is transmitted over a connection formed with the device using a network, and the drive device is connected to the drive device when the first data matches the second data received from the second controller. Establish a connection with the second controller.

According to this disclosure, the legitimate data of the parameter group can be used for both the establishment of the connection and the collation of the parameter group.

The support device according to the present disclosure is a support device connected to a control system, and the control system includes a first controller, a drive device for driving a motor according to a first command from the first controller, and a drive. A second controller for transmitting a second command relating to the operation of the safety function to the device is provided, and the drive device executes the safety program according to the second command while referring to the parameter group, and the first. The controller of the first storage area includes the first storage area for storing the parameter group, and according to the request received from the support device, the parameter group of the first storage area is transferred to the support device, and the second controller is the support device. A second storage area for storing the parameter group transferred to the support device according to the request received from the support device is included, and the support device includes the parameter group of the first storage area from the first controller and the second storage area. A collating unit that collates the parameters of the second storage area from the controller of the above is included, and one of the parameters of the first storage area and the parameters of the second storage area is selected according to the result of the collation. Restore the selected parameters.

According to this disclosure, the support device sends a request to the first controller and the second controller to set parameters from a plurality of routes of the first controller side route and the second controller side route. Can be received. Further, the support device can select and restore one parameter group by collating the parameter groups received from a plurality of routes.

The program according to the present disclosure is a program executed by an information processing device connected to a control system, and the control system drives a motor according to a first controller and a first command from the first controller. A drive device and a second controller for transmitting a second command relating to the operation of the safety function to the drive device are provided, and the drive device performs a safety program according to the second command while referring to a parameter group. Execution, the first controller includes the first storage area for storing the parameter group, transfers the parameter group of the first storage area to the information processing apparatus according to the request received from the information processing apparatus, and is the first. The second controller includes a second storage area for storing a set of parameters transferred to the information processing device according to a request received from the support device, and the program is stored in the processor of the information processing device as the first controller. The step of collating the parameter group of the first storage area from the second controller with the parameter group of the second storage area from the second controller, and the parameter group of the first storage area and the second storage according to the result of the collation. Select one of the parameters in the region and execute the step of restoring the selected parameter group.

According to this disclosure, when the program is executed by the processor of the information processing device, the information processing device sends a request to the first controller and the second controller, so that the path on the first controller side and the first controller can be executed. The parameter group can be received from a plurality of routes with the route on the controller side of 2. Further, the information processing apparatus can select and restore one parameter group by collating the parameter groups received from the plurality of routes.

According to the present disclosure, it is possible to provide an improved environment for transferring the parameters referenced by the safety program.

It is a schematic diagram which shows an example of the application situation of the control system 1 which concerns on this embodiment. It is a schematic diagram which shows the structural example of the control system 1 which concerns on this embodiment. It is a schematic diagram which shows the hardware configuration example of the standard controller 100 which constitutes the control system 1 which concerns on this embodiment. It is a schematic diagram which shows the hardware configuration example of the safety controller 200 which constitutes the control system 1 which concerns on this embodiment. It is a schematic diagram which shows the hardware configuration example of the safety driver 300 and the servomotor 400 which constitute the control system 1 which concerns on this embodiment. It is a schematic diagram which shows the hardware configuration example of the support apparatus 500 which constitutes the control system 1 which concerns on this embodiment. It is a figure for demonstrating the transmission form of the communication frame in the control system 1 which concerns on this embodiment. It is a schematic diagram which shows an example of the function division at the time of operation of the control system 1 which concerns on this embodiment. It is a schematic diagram which shows the environment which executes the upload and download by the support device 500 which concerns on this embodiment. It is a schematic diagram which illustrates the data uploaded to the support apparatus 500 which concerns on this embodiment. It is a flowchart which shows the outline of the upload process of the support apparatus 500 which concerns on embodiment of this invention. It is a schematic diagram of the display example of the list of the data of the project which concerns on embodiment of this invention. It is a schematic diagram which shows the flow of data in the upload process which concerns on embodiment of this invention. It is a schematic diagram which shows an example of the download flow of the parameter group in the control system 1 which concerns on this embodiment. It is a schematic diagram which shows an example of the download sequence of the parameter group in the control system 1 which concerns on this embodiment.

Embodiments of the present invention will be described in detail with reference to the drawings. The same or corresponding parts in the drawings are designated by the same reference numerals and the description thereof will not be repeated.

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

FIG. 1 is a schematic diagram showing an example of an application scene of the control system 1 according to the present embodiment. The control system 1 according to the present embodiment is, for example, a safety function for a drive device and SRA parameters defined by the ETG standard defined in Non-Patent Document 1 described above, and is a parameter included in the controller of the control system 1. Is provided with a function of changing (hereinafter, also referred to as restoration) data in a format that can be processed by the support device 500 connected to the control system 1.

Hereinafter, the "parameters of SRA" are also simply referred to as "parameters", and the "parameter group" includes one or more parameters.

With reference to FIG. 1, the control system 1 mainly corresponds to a standard controller 100 corresponding to a "first controller" and a "second controller" connected to the standard controller 100 via a field network. Includes a safety controller 200 and a safety driver 300 corresponding to one or more "driver devices". Each of the safety drivers 300 drives an electrically connected servomotor 400. Not limited to the servo motor 400, any kind of motor can be adopted. For example, any kind of actuator (for example, a three-phase AC motor, a DC motor, a single-phase AC motor, a multi-phase AC motor, a linear servo, etc.) can be adopted. Further, the substance of the safety driver 300 may be a servo driver or a general-purpose inverter device. In the following description, the safety driver 300 will be described as an example of the drive device.

The standard controller 100 executes standard control for a controlled object including the servomotor 400 according to a standard control program created in advance. Typically, the standard controller 100 cyclically executes a control operation according to an input signal from one or a plurality of sensors (not shown) to give a command (first) to an actuator such as a servomotor 400. Command) is calculated periodically.

The safety controller 200 transmits a safety command (second command) related to the operation of the safety function to the safety driver 300. More specifically, the safety controller 200 cyclically executes monitoring and control operations for realizing a safety function for a controlled object independently of the standard controller 100. The safety controller 200 is capable of receiving an input signal from any safety device 240 and / or outputting a command to any safety device 240.

In the present specification, the terms "standard control" mainly carried by the standard controller 100 and "safety control" carried by the safety controller 200 or the safety driver 300 are used in contrast. "Standard control" is a general term for processes for controlling a controlled object in accordance with predetermined requirement specifications. On the other hand, "safety control" is a general term for processes for preventing human safety from being threatened by equipment or machines. The "safety control" is designed to meet the requirements for realizing the safety function specified in IEC 61508 and the like.

The safety driver 300 drives the servomotor 400 by supplying electric power to the servomotor 400 in accordance with a command (first command) from the standard controller 100. The safety driver 300 periodically calculates the rotational position, rotational speed, rotational acceleration, generated torque, and the like of the servomotor 400 based on the feedback signal from the servomotor 400 and the like.

Further, the safety driver 300 provides the safety controller 200 with state information necessary for the safety function, and adjusts or adjusts the electric power supplied to the servomotor 400 by executing the motion safety program 3202 according to the required safety function. It shuts off and monitors or adjusts the position and speed of the control axis of the servomotor 400. At the time of execution, the motion safety program 3202 performs adjustment or cutoff of the power, and also performs monitoring and adjustment with reference to the parameter group provided by the standard controller 100. The set of parameters includes one or more SRA parameters indicating values (position, speed, range, etc.) for motion safety.

The servomotor 400 has a motor that rotates by receiving electric power from the safety driver 300, and outputs a detection signal from an encoder coupled to the rotation shaft of the motor as a feedback signal to the safety driver 300.

The safety driver 300 monitors that the servomotor 400 is normally controlled by executing the motion safety program 3202 and comparing the value of the parameter group with the feedback from the encoder of the servomotor 400. As long as the safety driver 300 normally controls, the normal operation can be continued. When the safety driver 300 determines that the control of the servomotor 400 is incorrect, the safety driver 300 outputs a stop signal to the servomotor 400.

The support device 500 includes, but is not limited to, a tool for generating a project stored in, for example, the standard controller 100 or the safety controller 200. Project generation can include both the concept of editing an existing (installed) project on the actual standard controller 100 or safety controller 200, and creating a new project. The generation of a project includes the generation (including editing) of a set of parameters.

The control system 1 provides the support device 500 with a plurality of routes (flows S1 and S4 in FIG. 1) for transferring the parameter group. Specifically, the standard controller 100 includes an area E1 corresponding to a "first storage area" for storing a parameter group. The standard controller 100 transfers the parameter group of the area E1 to the support device 500 according to the upload request received from the support device 500 (flow S1). Further, the safety controller 200 includes an area E2 corresponding to a "second storage area" for storing the parameter group. The safety controller 200 follows the upload request received from the support device 500 and transfers the parameter group of the area E2 to the support device 500 (flows S2 and S4).

Therefore, in the control system 1, the parameter group can be uploaded to the support device 500 from a plurality of routes, so that the support device 500 receives the parameter group from another route even if one route cannot be used. be able to.

Further, the area E2 of the safety controller 200 may store a parameter group having the same size as the parameter group of the area E1, or may store a parameter group that has been reduced in size so that it can be restored by the support device 500. good. The area E2 is a parameter group not referred to by the motion safety program 3202 and is an area for storing a parameter group for providing one of the above-mentioned plurality of routes. In the area E2, the support device 500 is used. By storing the parameter group reduced in size to the extent that it can be restored in, the memory consumption related to the area E2 can be suppressed in the safety controller 200, and the communication load for transferring the parameter group by the flows S2 and S4 can be reduced. Can be lowered.

Further, the support device 500 detects the validity of the parameter group received from the plurality of routes. Specifically, the support device 500 receives CRC (Cyclic Redundancy Check) data indicating the validity of the parameter group together with the parameter group from the safety controller 200 (flow S3). The support device 500 calculates CRC data from the parameter group received in flow S1, and collates the calculated CRC data with the CRC data received in flow S3. When the support device 500 determines that the calculated CRC data does not match the CRC data received from the safety controller 200 in the flow S3 as a result of the collation, the parameter group from the safety controller 200 is not the parameter group from the standard controller 100. Determine that the group is more legitimate. That is, in the control system 1, since the number of persons permitted to operate the safety controller 200 is limited in order to realize the safety function, it is unlikely that the parameter group in the region E2 is tampered with, and therefore it is legitimate. There is a high possibility.

As described above, in the control system 1 of FIG. 1, in the standard controller 100 and the safety controller 200, a plurality of areas E1 and E2 for storing the parameter group are provided to provide the parameter group to the support device 500, respectively. Can provide a route for.

Hereinafter, as a more specific application example of the present invention, a more detailed configuration and processing of the control system 1 according to the present embodiment will be described.

<B. Configuration example of control system 1>
First, a configuration example of the control system 1 will be described. FIG. 2 is a schematic diagram showing a configuration example of the control system 1 according to the present embodiment.

(B1: Overall configuration)
With reference to FIG. 2, the control system 1 mainly includes a standard controller 100 and a safety controller 200 and one or a plurality of safety drivers 300 connected to the standard controller 100 via the field network 2. Each of the safety drivers 300 drives an electrically connected servomotor 400. Not limited to the servo motor 400, any kind of motor can be adopted.

The standard controller 100 executes standard control for a controlled object including the servomotor 400 according to a standard control program created in advance. Typically, the standard controller 100 periodically issues commands to an actuator such as a servomotor 400 by cyclically executing control operations according to input signals from one or more sensors (not shown). Calculate to.

The safety controller 200 cyclically executes monitoring and control operations for realizing a safety function for a controlled object independently of the standard controller 100. The safety controller 200 is capable of receiving an input signal from any safety device 240 and / or outputting a command to any safety device 240.

The safety driver 300 drives the servomotor 400 by supplying electric power to the servomotor 400 in accordance with a command from the standard controller 100. The safety driver 300 periodically calculates the rotational position, rotational speed, rotational acceleration, generated torque, and the like of the servomotor 400 based on the feedback signal from the servomotor 400 and the like.

The safety driver 300 provides state information necessary for the safety function to the safety controller 200, and adjusts or cuts off the electric power supplied to the servomotor 400 according to the required safety function.

The servomotor 400 has a motor that rotates by receiving electric power from the safety driver 300, and outputs a detection signal from an encoder coupled to the rotation shaft of the motor as a feedback signal to the safety driver 300.

(B2: Standard controller 100)
FIG. 3 is a schematic diagram showing a hardware configuration example of the standard controller 100 constituting the control system 1 according to the present embodiment. With reference to FIG. 3, the standard controller 100 includes a processor 102, a main memory 104, a storage 110, an upper network controller 106, a field network controller 108, a USB (Universal Serial Bus) controller 120, and a memory card interface. The 112 and the local bus controller 116 are included. These components are connected via the processor bus 118.

The processor 102 mainly corresponds to an arithmetic processing unit that executes a control operation related to standard control, and is composed of a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), and the like. Specifically, the processor 102 reads out the programs (as an example, the system program 1102 and the standard control program 1104) stored in the storage 110, expands them into the main memory 104, and executes the programs, thereby corresponding to the control target. It realizes control calculation and various processes as described later.

The main memory 104 is composed of a volatile storage device such as a DRAM (Dynamic Random Access Memory) or an SRAM (Static Random Access Memory). The storage 110 is composed of, for example, a non-volatile storage device such as an SSD (Solid State Drive) or an HDD (Hard Disk Drive).

In the storage 110, in addition to the system program 1102 for realizing the basic functions, the standard control program 1104 created according to the control target is stored. Further, the storage 110 stores the setting information 1106 for setting various variables and the setting program 1101. The setting information 1106 has a parameter group 130 to be transmitted to the safety driver 300. The parameter group 130 is stored in the area E1 of the storage 110.

When executed, the setting program 1101 realizes a loading function. The loading function includes a function of storing the contents of the setting information 1106 including the standard control program 1104 transferred (downloaded) from the support device 500 and the parameter group 130 in the corresponding area of the storage 110. As a result, the contents of the setting information 1106 including the original standard control program 1104 of the storage 110 and the parameter group 130 are changed (rewritten or updated). Further, the loading function includes a function of reading the contents of the setting information 1106 including the standard control program 1104 of the storage 110 and the parameter group 130 and transferring (uploading) the contents to the support device 500 in accordance with the request from the support device 500.

The host network controller 106 exchanges data with and from an arbitrary information processing device via the host network.

The field network controller 108 exchanges data with and from any device including the safety controller 200 and the safety driver 300 via the field network 2.

The USB controller 120 exchanges data with the support device 500 and the like via the USB connection.

The memory card interface 112 receives a memory card 114, which is an example of a removable recording medium. The memory card interface 112 can write data to the memory card 114 and read various data (logs, trace data, etc.) from the memory card 114.

The local bus controller 116 exchanges data with and from any unit connected to the standard controller 100 via the local bus.

In FIG. 2, the support device 500 is provided independently of the standard controller 100, but a configuration in which functions such as a display device and the support device 500 are integrated into the standard controller 100 may be adopted. FIG. 3 shows a configuration example in which the necessary functions are provided by the processor 102 executing a program, and some or all of these provided functions are provided by a dedicated hardware circuit (for example, ASIC). (Application Specific Integrated Circuit) or FPGA (Field-Programmable Gate Array), etc.) may be used for implementation. Alternatively, the main part of the standard controller 100 may be realized by using hardware that follows a general-purpose architecture (for example, an industrial personal computer based on a general-purpose personal computer). In this case, a virtualization technique may be used to execute a plurality of OSs (Operating Systems) having different uses in parallel, and to execute necessary applications on each OS. Further, a configuration in which functions such as a display device and a support device are integrated into the standard controller 100 may be adopted.

(B3: Safety controller 200)
FIG. 4 is a schematic diagram showing a hardware configuration example of the safety controller 200 constituting the control system 1 according to the present embodiment. With reference to FIG. 4, the safety controller 200 includes a processor 202, a main memory 204, a storage 210, a field network controller 208, a USB controller 220, and a safety local bus controller 216. These components are connected via the processor bus 218.

The processor 202 mainly corresponds to a calculation processing unit that executes a control calculation related to safety control, and is composed of a CPU, a GPU, and the like. Specifically, the processor 202 provides the necessary safety function by reading out the programs (as an example, the system program 2102 and the safety program 2104) stored in the storage 210, expanding them into the main memory 204, and executing the programs. It realizes control calculation for performing and various processes as described later.

The main memory 204 is composed of a volatile storage device such as DRAM or SRAM. The storage 210 is composed of, for example, a non-volatile storage device such as an SSD or an HDD.

In the storage 210, in addition to the system program 2102 for realizing the basic function, the safety program 2104 created according to the required safety function is stored. Further, the storage 210 stores setting information 2106 for setting variables and the like.

The setting information 2106 has a size reduction parameter group 2109 and CRC data 2108. The size reduction parameter group 2109 is stored in the area E2 of the storage 210. Specifically, the area E2 is an area for storing a parameter group (that is, a size reduction parameter group 2109) to be transferred to the support device 500 according to a request at the time of upload from the support device 500. Further, the CRC data 2108 is stored in the area E3 of the storage 210. The CRC data 2108 is data received from the support device 500, and shows the validity of the parameter group calculated according to a predetermined formula from the parameter group before the size reduction of the size reduction parameter group 2109.

In the present embodiment, the size reduction parameter group 2109 is not used as data related to the operation of the safety function for the safety driver 300, but is mainly used as a parameter group to be uploaded to the support device 500.

When executed, the setting program 2101 realizes a loading function. The loading function includes a function of storing the contents of the setting information 2106 including the safety program 2104 transferred (downloaded) from the support device 500, the size reduction parameter group 2109, and the CRC data 2108 in the corresponding area of the storage 210. As a result, the contents of the setting information 2106 including the original safety program 2104 of the storage 210, the size reduction parameter group 2109, and the CRC data 2108 are changed (rewritten or updated). Further, the loading function reads the contents of the setting information 2106 including the safety program 2104 of the storage 210, the size reduction parameter group 2109, and the CRC data 2108 according to the request from the support device 500, and transfers (uploads) the contents to the support device 500. Including functions.

The field network controller 208 exchanges data with and from any device including the standard controller 100 and the safety driver 300 via the field network 2. In the control system 1, the field network controller 208 of the safety controller 200 functions as a communication slave of the field network 2.

The USB controller 220 exchanges data with an information processing device such as a support device 500 via a USB connection.

The safety local bus controller 216 exchanges data with any safety unit connected to the safety controller 200 via the safety local bus. FIG. 4 shows a safety unit IO unit 230 as an example of a safety unit.

The safety unit IO unit 230 exchanges input / output signals with and from any safety device 240. More specifically, the safety unit IO unit 230 receives an input signal from a safety device 240 such as a safety sensor or a safety switch. Alternatively, the safety unit IO unit 230 outputs a command to a safety device 240 such as a safety relay.

FIG. 4 shows a configuration example in which the necessary functions are provided by the processor 202 executing the program, and some or all of these provided functions are provided by a dedicated hardware circuit (for example, ASIC). Alternatively, it may be implemented using FPGA or the like). Alternatively, the main part of the safety controller 200 may be realized by using hardware that follows a general-purpose architecture (for example, an industrial personal computer based on a general-purpose personal computer).

(B4: Safety driver 300 and servo motor 400)
FIG. 5 is a schematic diagram showing a hardware configuration example of the safety driver 300 and the servomotor 400 constituting the control system 1 according to the present embodiment. With reference to FIG. 5, the safety driver 300 includes a field network controller 302, a control unit 310, a drive circuit 330, and a feedback receiving circuit 332.

The field network controller 302 exchanges data with and from any device including the standard controller 100 and the safety controller 200 via the field network 2. In the control system 1 shown in FIG. 5, the field network controller 302 of the safety driver 300 functions as a communication slave of the field network 2.

The control unit 310 executes arithmetic processing necessary for operating the safety driver 300. As an example, the control unit 310 includes a processor 312, 314, a main memory 316, and a storage 320.

The processor 312 corresponds to an arithmetic processing unit that mainly executes a control arithmetic for driving the servomotor 400. The processor 314 corresponds to a calculation processing unit that mainly executes a control calculation for providing a safety function related to the servomotor 400. Each of the processors 312 and 314 is composed of a CPU or the like.

The main memory 316 is composed of a volatile storage device such as DRAM or SRAM. The storage 320 is composed of, for example, a non-volatile storage device such as an SSD or an HDD.

The storage 320 has a servo control program 3201 for realizing servo control related to the servo motor 400, a motion safety program 3202 for realizing the motion safety function related to the servo motor 400, and settings for setting variables and the like. Information 3203 and parameter group 130 are stored. The parameter group 130 is transferred from the standard controller 100 and stored in the area E4 of the storage 320.

The setting information 3203 includes a CRC calculation program 3204 and a collation program 3205 that calculate CRC (Cyclic Redundancy Check) data executed by the processor 314. The CRC calculation program 3204 calculates CRC data (value) for error detection from the parameter group 130 in the region E4 according to a predetermined arithmetic expression. This CRC data corresponds to the "first data" and is a value for detecting the validity of the parameter group 130 such that the parameter group 130 has no error (or tampering), and is, for example, binary data of the parameter group 130. It may include a checksum calculated from. The CRC data is not limited to the checksum.

The collation program 3205 collates the CRC data calculated by the CRC calculation program 3204 with the CRC data 2108 corresponding to the "second data" received from the safety controller 200. When the collation result indicates that the calculated CRC data matches the CRC data 2108, the safety driver 300 establishes a logical connection 4 with the safety controller 200. That is, the safety driver 300 transmits a notification of connection establishment to the safety controller 200.

FIG. 5 exemplifies a configuration in which two processors 312 and 314 execute control operations for different purposes to improve reliability, but the present invention is not limited to this, and any configuration can be realized as long as the required safety function can be realized. May be adopted. For example, when a single processor includes a plurality of cores, control operations corresponding to the processors 312 and 314 may be executed. Further, FIG. 5 shows a configuration example in which the necessary functions are provided by the processors 312 and 314 executing the program, and some or all of these provided functions are provided by a dedicated hardware circuit. It may be implemented using (eg, ASIC or FPGA).

The drive circuit 330 includes a converter circuit, an inverter circuit, and the like, and generates electric power having a specified voltage, current, and phase according to a command from the control unit 310, and supplies the electric power to the servomotor 400.

The feedback reception circuit 332 receives the feedback signal from the servomotor 400 and outputs the reception result to the control unit 310.

The servomotor 400 typically includes a three-phase AC motor 402 and an encoder 404 mounted on the rotating shaft of the three-phase AC motor 402.

The three-phase AC motor 402 is an actuator that receives electric power supplied from the safety driver 300 to generate rotational force. FIG. 5 exemplifies a three-phase AC motor as an example, but the present invention is not limited to this, and a DC motor, a single-phase AC motor, or a multi-phase AC motor may be used. Further, an actuator that generates a driving force along a straight line such as a linear servo may be adopted.

The encoder 404 outputs a feedback signal (typically, a number of pulse signals corresponding to the rotation speed) corresponding to the rotation speed of the three-phase AC motor 402.

(B5: Support device 500)
FIG. 6 is a schematic diagram showing a hardware configuration example of the support device 500 constituting the control system 1 according to the present embodiment. As an example, the support device 500 is realized by using hardware (for example, a general-purpose personal computer) that follows a general-purpose architecture.

With reference to FIG. 6, the support device 500 includes a processor 502, a main memory 504, an input unit 506, an output unit 508, a storage 510, an optical drive 512, and a USB controller, which is an embodiment of a communication interface. Includes 520 and. These components are connected via the processor bus 518.

The processor 502 is composed of a CPU, a GPU, or the like, reads out a program stored in the storage 510, expands the program in the main memory 504, and executes the program to realize various processes as described later.

The main memory 504 is composed of a volatile storage device such as DRAM or SRAM. The storage 510 is composed of, for example, a non-volatile storage device such as an HDD or SSD.

In the storage 510, in addition to the OS 5102 for realizing the basic functions, the support program 5104 for providing the functions as the support device 500 is stored. That is, the support program 5104 is executed by the processor of the information processing device connected to the control system 1 to realize the support device 500 according to the present embodiment.

The storage 510 includes an area E5 for storing the project 530 described later, an area E6 for holding (storing) the initial parameter group 60, and an area E7 for storing the change parameter group 65.

The support program 5104 provides various development environments (tools, etc.) by being executed. The support program 5104 includes a parameter generation program 5105 that provides a tool for generating a parameter group, a size reduction program 5106, a CRC calculation program 5107, a collation program 5108, and a load program 5109 for downloading or uploading programs and data. And the project management program 5110. The project management program 5110 also includes a program for generating the project 530.

Here, the "project" is information for constructing one application program. In this embodiment, project 530 includes standard control program 1104, safety program 2104 and related configuration information. This setting information includes the parameter group 130, the size reduction parameter group 2109, the CRC data 2108, and the like.

The load program 5109 includes a download program and an upload program. When the download program is executed, it transfers the project 530 to the standard controller 100 and the safety controller 200 (this is called a download process). As a result, the standard control program 1104 and the parameter group 130 are transferred to the standard controller 100 and stored in the storage 110, and the safety program 2104, the size reduction parameter group 2109 and the CRC data 2108 are transferred to the safety controller 200 for storage. It is stored in 210. Further, when the upload program is executed, the upload request is sent to the standard controller 100 and the safety controller 200, and the data received from the standard controller 100 and the safety controller 200 in response to the request is sent to the storages 110 and 210, respectively. Store in (this is called the upload process). The standard controller 100 transfers the contents of the setting information 1106 including the standard control program 1104 of the storage 110 and the parameter group 130 to the support device 500 in accordance with the request from the support device 500. Further, the safety controller 200 transfers the contents of the setting information including the safety program 2104 of the storage 210, the size reduction parameter group 2109 and the CRC data 2108 to the support device 500 in accordance with the request from the support device 500.

When the parameter generation program 5105 is executed, the parameter generation program 5105 generates the change parameter group 65 by changing the contents of the initial parameter group 60 read from the area E6 according to the user operation received via the input unit 506. The generated change parameter group 65 is stored in the area E7.

When executed, the reduction program 5106 provides a tool for generating a parameter group having a size smaller than the data size of the change parameter group 65 from the change parameter group 65 of the region E7. Specifically, this tool realizes a reduction in size by comparing the change parameter group 65 and the initial parameter group 60, detecting the difference that is the difference, and compressing the detected difference by a method such as ZIP. do. The method of reducing the size is not limited to such a combination of difference and compression, and may be, for example, reduction in size by only the difference or reduction in size by compression of the change parameter group 65.

When executed, the support program 5104 decompresses (decompresses or expands) the size reduction parameter group 2109 uploaded from the safety controller 200. The expanded parameter group corresponds to the difference described above. The support program 5104 changes the initial parameter group 60 read from the area E6 by using the difference. As a result, the parameter group before the size reduction is restored (hereinafter, also referred to as a restoration parameter group).

The CRC calculation program 5107 calculates CRC data (value) for error detection from the change parameter group 65 in the area E7 according to a predetermined calculation formula, and also calculates a predetermined CRC data (value) from the parameter group 130 uploaded from the standard controller 100. CRC data (value) for error detection is calculated according to the calculation formula. The CRC data calculated in this way is a value for detecting the validity of the parameter group such that the change parameter group 65 (or the parameter group 130) is not erroneous or tampered with. The predetermined calculation formula applied to the CRC calculation program 5107 is the same as the calculation formula applied to the CRC calculation program 3204 of the safety driver 300.

The collation program 5108 collates the CRC data of the parameter group 130 calculated by the CRC calculation program 5107 with the CRC data 2108 uploaded from the safety controller 200. The support device 500 selects one of the parameter group 130 uploaded from the standard controller 100 and the parameter group uploaded from the safety controller 200, that is, the above-mentioned restoration parameter group, according to the collation result, and uses it for a predetermined process. This predetermined process includes restoration of a set of parameters or generation of project 530.

The input unit 506 is composed of a keyboard, a mouse, and the like, and receives user operations on the support device 500. The output unit 508 is composed of a display 509, various indicators, a printer, and the like, and outputs a processing result from the processor 502 and the like.

The USB controller 520 exchanges data with and from the standard controller 100 and the like via the USB connection.

The support device 500 includes an optical drive 512 from a recording medium 514 (for example, an optical recording medium such as a DVD (Digital Versatile Disc)) that non-transiently stores a computer-readable program. The stored program is read and installed in the storage 510 or the like.

The support program 5104 or the like executed by the support device 500 may be installed via a computer-readable recording medium 514, or may be installed by downloading from a server device or the like on the network. Further, the function provided by the support device 500 according to the present embodiment may be realized by using a part of the module provided by the OS.

FIG. 6 shows a configuration example in which the processor 502 executes a program to provide the functions required as the support device 500, and some or all of these provided functions are provided by dedicated hardware. It may be implemented using a circuit (eg, ASIC or FPGA).

The support device 500 may be removed from the standard controller 100 while the control system 1 is in operation.

<C. Data communication of control system 1>
Next, an example of data communication in the control system 1 will be described.

FIG. 7 is a diagram for explaining a transmission mode of a communication frame in the control system 1 according to the present embodiment. With reference to FIG. 7, data communication is performed in the field network 2 of the control system 1, and the communication frame 600 is cyclically (for example, several to ten and several msec) with the standard controller 100 as the communication master. Make a round in between. The cycle transmitted by the communication frame 600 is also referred to as a process data communication cycle.

In the present embodiment, EtherCAT (registered trademark) is adopted as an example of the protocol of the field network 2 that cyclically transmits such a communication frame 600.

A data area is allocated to the communication frame 600 for each device. When each device receives the communication frame 600, each device writes the current value of the preset data in the data area allocated to the own device in the received communication frame 600. Then, the communication frame 600 after writing the current value is sent to the next device. The current value of the data written by each device can be referred to by other devices.

By writing the current value of the data preset in the communication frame 600 to each device, the communication frame 600 that goes around the field network 2 and returns to the communication master (standard controller 100) is the latest collected by each device. Will contain the value of.

In the present embodiment, further, such data communication is used to form a logical connection 4 between each of the safety controller 200 and the safety driver 300 (see FIG. 7). This logical connection 4 is used for exchanging data for realizing the safety function.

As described above, when EtherCAT is adopted as the protocol of the field network 2, the logical connection 4 can be formed by using the protocol of FSoE.

<D. Division of functions of control system 1>
Next, an example of the division of functions during operation in the control system 1 will be described. FIG. 8 is a schematic diagram showing an example of the division of functions during operation of the control system 1 according to the present embodiment.

With reference to FIG. 8, the safety driver 300 executes the servo control 350 with respect to the standard control 150 executed by the standard controller 100. The standard control 150 includes a process of periodically calculating a command for driving the servomotor 400 according to a user program preset for the control target. Further, the servo control 350 includes a control for driving the servomotor 400 according to a command periodically calculated by the standard control 150, and a process of acquiring and outputting a state value indicating an operating state of the servomotor 400. .. The servo control 350 is handled by the processor 312 (see FIG. 5) of the safety driver 300.

On the other hand, the safety driver 300 provides the motion safety function 360 in response to the safety function 250 provided by the safety controller 200. The motion safety function 360 is handled by the processor 314 (see FIG. 5) of the safety driver 300.

The safety function 250 is predetermined based on a state value held by the standard control 150 executed by the standard controller 100, a state value indicated by a signal from the safety device 240, a state value held by the safety driver 300, and the like. When the above conditions are met, the safety function specified in advance is activated.

The process of enabling the safety function specified in advance is, for example, the output of a safety command to the safety driver 300 or the output of a safety command to the safety device 240 (for example, safety related to power supply to a specific device). (Break off the relay) and so on.

When the motion safety program 3202 is executed, the safety driver 300 provides the designated motion safety function 360 in response to the safety command from the safety controller 200. Depending on the type of the designated motion safety function 360, the process of intervening in the control of the servomotor 400 by the servo control 350 performed by the servo control program 3201 to cut off the power supply to the servomotor 400, or the servo control. A process of monitoring whether or not the state value of the control of the servomotor 400 by the 350 is within a predetermined limit range is executed. The motion safety program 3202 refers to the parameters of the SRA indicated by the parameter group 130 of the region E4 to cut off the power supply or perform the monitoring process.

<E. Upload and download support device 500>
In the following description of uploading and downloading the support device 500, for the sake of simplicity, one safety driver 300 provided in the control system 1 is targeted, but the processing for the one safety driver 300 is performed. , The same can be applied to each of the other safety drivers 300.

FIG. 9 is a schematic diagram showing an environment for executing upload and download by the support device 500 according to the present embodiment. In FIG. 9, project 530 in region E5 is shown in association with the environment. FIG. 10 is a schematic diagram illustrating data uploaded to the support device 500 according to the present embodiment.

With reference to FIG. 9, in this environment, the load tool 5111 is provided by the processor 502 executing the load program 5109 of the support program 5104. Further, the processor 502 executes the project management program 5110 to provide the tool of the project manager 5114. The load tool 5111 also provides a download tool 5112 and an upload tool 5113. The project manager 5114 provides a tool for collation unit 5115 by executing collation program 5108. Project 530 includes project 531 applied to the standard controller 100 and project 532 applied to the safety controller 200.

The download tool 5112 carries out the above download process by transferring the project 531 of the standard controller of the project 530 to the standard controller 100. Further, the upload tool 5113 stores the project 531 of the standard controller based on the data uploaded from the standard controller 100 in the area E5 by performing the above upload process, and the safety based on the data uploaded from the safety controller 200. Stores the controller project 532. As a result, the project 530 is stored in the area E5.

With reference to FIG. 10, the data uploaded to the support device 500 includes data 160 from the standard controller 100 and data 260 from the safety controller 200. The data 160 includes the contents of the standard control program 1104 and the setting information 1106. The content of the setting information 1106 includes, but is not limited to, the axis setting, the I / O map setting, the variable table, and the EtherCAT setting referred to by the standard control program 1104 at the time of execution. The content of the setting information 1106 further includes a parameter group 130 transferred from the standard controller 100 to the safety driver 300.

The data 260 also includes the contents of the safety program 2104 and the setting information 2106. The content of the setting information 2106 includes, but is not limited to, the FSoE connection setting, the I / O map setting, and the variable table referred to by the safety program 2104 at the time of execution. The contents of the setting information 2106 further include a size reduction parameter group 2109 and CRC data 2108.

(E1: Upload process and project generation)
FIG. 11 is a flowchart showing an outline of the upload process of the support device 500 according to the embodiment of the present invention. With reference to FIG. 11, a case where the generation process of the project 530 is performed will be illustrated, and the process at the time of upload will be described. With reference to FIG. 11, the project manager 5114 determines whether the model of the project 530 to be generated matches the model of the standard controller 100 and the safety controller 200 connected to the support device 500 (step U1). For example, the project manager 5114 determines by collating the model indicated by the user operation received via the input unit 506 with the model received from the standard controller 100 and the safety controller 200 by the support device 500. If the project manager 5114 determines that they do not match based on the collation result (NO in step U1), the project manager 5114 executes a process such as outputting a notification of upload failure (step U11), and ends the process.

On the other hand, when the project manager 5114 determines that they match based on the collation result (YES in step U1), the project manager 5114 activates the upload tool 5113.

The upload tool 5113 starts the upload process by sending an upload request to the standard controller 100 and the safety controller 200 (step U3). In the upload process of step U3, the upload tool 5113 receives the data 160 of the standard controller from the standard controller 100 and the data 260 of the safety controller from the safety controller 200. The project manager 5114 acquires the restoration parameter group from the reduction parameter group 2109 of the data 260.

Further, in step U3, the project manager 5114 reads the data for each element from the data 160, searches the project 531 in the area E5 based on the type of the read data, and based on the search result, sets the data type of the element. Determine if the same data type exists in project 531 (step U5).

The data type described above is information that can uniquely determine what kind of element the data has, and includes, for example, a type of a ladder program, a variable table, or the like. This type can be expressed by using a unique identifier (ID: AAAA-BBBB-CCCC-DDDD), a character string (Type: LadderProgram), or the like. The project manager 5114 manages data with character string information of Type and SubType. For example, in the case of a ladder program, it is managed by Type: Program and SubType: Ladder.

In step U3, the project manager 5114 similarly reads the data for each element of the data 260, searches the project 532 of the area E5 based on the type of the read data, and based on the search result, the data of the element. It is determined whether the same data type as the type of is present in the project 532 (step U5).

When the project manager 5114 determines that the same data type exists in the project 531 or the project 532 (YES in step U5), the project manager 5114 reads the corresponding data of the project 531 or the project 532 in the area E5. Overwrite with (step U7). On the other hand, when the project manager 5114 determines that the same data type does not exist in the project 531 or the project 532 (NO in step U5), the project manager 5114 reads the data read from the data 160 or the data 260 into the project 531 or the project 531. Created in project 532 (step U9). The project generation process is performed by the processes of steps U7 and U9.

The project manager 5114 determines whether or not the generation process of the project 530 including the project 531 and the project 532 using the received data 160 and the data 260 is completed (step U11). When it is determined that the process is completed (YES in step U11), the project generation process ends. If it is determined that the process has not been completed (NO in step U11), the process returns to step U3, and the project generation process after step U5 is performed for the next data included in the data 160 and the data 260 in the same manner as described above. ..

FIG. 12 is a schematic diagram of a display example of a list of data of the project according to the embodiment of the present invention. With reference to FIG. 12, the project manager 5114 displays a list of data constituting the standard controller project 531 and the safety controller project 532 stored in the area E5 on the display 509 so as to be visible.

(E2: Procedure for uploading parameter group)
FIG. 13 is a schematic diagram showing a data flow in the upload process according to the embodiment of the present invention. A specific example of the upload flow of the parameter group 130, the size reduction parameter group 2109, the CRC data 2108, and the safety program 2104 in step U3 will be described with reference to FIG.

With reference to FIG. 13, the upload tool 5113 uploads the parameter group 130 from the standard controller 100 (flow S1). Further, the upload tool 5113 uploads the size reduction parameter group 2109 from the safety controller 200 (flow S2). Further, the upload tool 5113 uploads the safety program 2104 and the CRC data 2108 from the safety controller 200 (flow S3).

The project manager 5114 generated a restoration parameter group from the reduction parameter group 2109 received in the flow S2 (step U13), and when a predetermined condition was satisfied, the generated restoration parameter group was transferred in the flow S1. Overwrite the parameter group 130 (step U12).

The collation unit 5115 collates the CRC data calculated from the parameter group 130 received from the standard controller 100 in the flow S1 with the CRC data 2108 received from the safety controller 200 in the flow S3 (step U13). The above predetermined condition indicates that the result of the collation does not match the calculated CRC data with the CRC data 2108.

Here, in the safety system applied to the control system 1, the operation of the safety controller 200 is permitted only to a limited number of operators. Therefore, it is unlikely that the size reduction parameter group 2109 and the CRC data 2108 stored in the safety controller 200 are unintentionally changed (tampered with, etc.). Under such circumstances, when the above predetermined conditions are satisfied, the restored parameter group restored from the reduced size parameter group 2109 has higher validity than the parameter group 130 from the standard controller 100.

As a result, when the above-mentioned predetermined conditions are satisfied, the parameter group 130 of the project 531 of the standard controller generated by the above-mentioned project generation process is restored to the restoration parameters of the low-size parameter group 2109 uploaded from the safety controller 200. By changing (overwriting) so as to show the same contents as the group, it is possible to restore the parameter group more reliably and the project 530 in the support device 500.

(E3: Download processing and connection establishment)
FIG. 14 is a schematic diagram showing an example of the flow of downloading the parameter group in the control system 1 according to the present embodiment. FIG. 15 is a schematic diagram showing an example of a sequence of downloading a parameter group in the control system 1 according to the present embodiment. The flows S11 to S15 in FIG. 14 correspond to the flows S11 to S15 in FIG. In this embodiment, the download process is performed, for example, when the control system 1 is started. In the transfer of the parameter group in the download process, the support device 500 transfers the parameter group of the SRA to each safety driver 300 via the standard controller 100, and the support device 500 transfers the parameter group of the SRA to the safety controller 200 in a low size. The conversion parameter group 2109 and the CRC data 2108 are transferred.

A sequence of transferring the parameter group 130 to each safety driver 300 will be described with reference to FIGS. 14 and 15. First, in the support device 500, the download tool 5112 transfers the parameter group 130 to the standard controller 100 (step D1, flow S11). The parameter group 130 corresponds to the change parameter group 65 read from the area E7. Specifically, the parameter generation program 5105 changes the initial parameter group 60 according to the user operation received from the input unit 506. As a result, the change parameter group 65 (parameter group 130) is generated.

Further, the project manager 5114 generates the size reduction parameter group 2109 by executing the size reduction program 5106 for the change parameter group 65 in the area E7 (step D2). Further, the project manager 5114 calculates the CRC data 2108 by invoking the CRC calculation program 5107 for the change parameter group 65 in the area E7 (step D2).

The download tool 5112 transfers the low size parameter group 2109 and the CRC data 2108 to the safety controller 200 (step D3, flow S12).

The standard controller 100 receives the parameter group 130 from the support device 500 (step D5), and transfers the parameter group 130 to the safety driver 300 together with the EtherCAT initialization command (step D7, flow S13). Further, the safety driver 300 receives the parameter group 130 from the standard controller 100, and stores the received parameter group 130 in the area E4 (step D15).

As a result, the safety controller 200 can transfer and store the parameter group used by the support device 500 for restoring the project 530. Therefore, the upload tool 5113 can provide a plurality of routes such as the flows S1 and S4 in FIG. 13 as a route for acquiring the parameter group from the control system 1. Further, at the time of download, the reduction parameter group 2109 is transferred, so that the communication load related to the field network 2 can be suppressed.

The safety driver 300 generates (calculates) CRC data from the parameter group 130 in the region E4 by the CRC calculation program 3204 (step D17). Further, the safety controller 200 receives the reduction parameter group 2109 and the CRC data 2108 from the support device 500 and stores them in the area E2 and the area E3, respectively (step D9).

When the safety controller 200 establishes the logical connection 4 with the safety driver 300, the safety controller 200 transmits an FSoE connection establishment request to the safety driver 300 (step D11, flow S14). The safety controller 200 sets the CRC data 2108 read from the area E3 in the parameter included in the connection establishment request.

The safety driver 300 receives the CRC data 2108 from the safety controller 200 together with the connection establishment request (step D19). The safety driver 300 collates the CRC data generated in step D17 (that is, the CRC data generated from the parameter group 130) with the CRC data 2108 received in step D19 by the collation program 3205 (step D21).

The safety driver 300 determines whether or not the CRC data generated in step D17 matches the CRC data 2108 based on the collation result (step D23). When the safety driver 300 determines that the match is shown (YES in step D23), the safety driver 300 accepts the establishment request, generates an "OK" response, and transmits the response to the safety controller 200 (step D25). After that, the logical connection 4 is established with the safety controller 200. Further, when the safety driver 300 determines that the collation result indicates that the CRC data generated in step D17 does not match the CRC data 2108 (NO in step D23), the response of "NG" rejecting the establishment request. Is generated and transmitted to the safety controller 200 (step D27, flow S15). The safety controller 200 receives an OK or NG response from the safety driver 300 as a response to the establishment request (step D13, flow S15).

As described above, the CRC data 2108 held by the safety controller 200 determines whether or not a connection can be established between the safety driver 300 and the safety controller 200, and the validity of the parameter group received from the plurality of routes by the support device 500 in the upload process. It can be used for both sex determination.

(E4: Modification example)
The reduced size parameter group is stored in the area E2 of the safety controller 200, but the original size may be stored without being reduced in size, that is, the same parameter group as the parameter group 130 may be stored. Further, the support device 500 uses the uploaded parameter group 130 (or the size reduction parameter group 2109) for the generation process of the project 530, but the process to be applied is not limited to the generation of the project 530.

In this embodiment, the parameter group 130 (or the size reduction parameter group 2109) is transferred to the safety driver 300 via the standard controller 100 (FIG. 11), and the CRC data 2108 is transferred to the safety driver 300 via the standard controller 100. However, the forwarding route is not limited to this (FIG. 11). For example, the parameter group 130 (or the size reduction parameter group 2109) or the CRC data 2108 may be transferred from the support device 500 to the safety driver 300 without going through the standard controller 100.

Further, in the present embodiment, the standard controller 100 has a storage area of the parameter group 130 transferred to the safety driver 300 (flow S13) and a storage area of the parameter group 130 transferred to the support device 500 (flow S1). Although the same area E1 is used, the storage areas may be independent. For example, the standard controller 100 may include an area for storing the parameter group 130 transferred to the safety driver 300 and an area for storing the parameter group 130 transferred to the support device 500 independently of this area. ..

<F. Addendum>
The present embodiment as described above includes the following technical ideas.

[Structure 1]
The first controller (100) and
A drive device (300) for driving a motor (400) according to a first command from the first controller.
A second controller (200) that transmits a second command relating to the operation of the safety function to the drive device, and
A support device (500) that can be connected to the first controller is provided.
The drive device executes the safety program (3202) in accordance with the second command with reference to the parameter group (130).
The first controller is
A first storage area (E1) for storing the parameter group is included, and the parameter group of the first storage area is transferred to the support device according to a request received from the support device.
The second controller is
A control system (1) including a second storage area (E2) for storing the parameter group transferred to the support device according to the request received from the support device.

[Structure 2]
The second controller is
The control system according to configuration 1, wherein the parameter group (2109) that has been reduced in size so that it can be restored by the support device is stored in the second storage area.

[Structure 3]
The support device is
A collating unit (5115) for collating the parameter group of the first storage area from the first controller and the parameter group of the second storage area from the second controller is included.
The control according to configuration 1 or 2, wherein one of the parameter group of the first storage area and the parameter group of the second storage area is selected according to the result of the collation, and the selected parameter group is restored. system.

[Structure 4]
The second controller further
From the parameter group of the second storage area, the area (E3) for storing the second data (2108) indicating the validity of the parameter group calculated according to a predetermined formula is included.
The collation unit
A configuration in which the first data indicating the validity of the parameter group calculated according to the predetermined formula from the parameter group of the first storage area is collated with the second data received from the second controller. 3. The control system according to 3.

[Structure 5]
A network (2) for sharing data with each other between the first controller, the drive device, and the second controller is further provided.
The second command is transmitted via a connection (4) formed between the second controller and the drive device using the network.
The drive device is
The control according to configuration 4, which establishes the connection between the drive device and the second controller when the first data matches the second data received from the second controller. system.

[Structure 6]
A support device (500) connected to the control system (1).
The control system is
The first controller (100) and
A drive device (300) for driving a motor (400) according to a first command from the first controller.
A second controller (200) for transmitting a second command relating to the operation of the safety function to the drive device is provided.
The drive device executes the safety program (3202) in accordance with the second command with reference to the parameter group (130).
The first controller is
A first storage area (E1) for storing the parameter group is included, and the parameter group of the first storage area is transferred to the support device according to a request received from the support device.
The second controller is
A second storage area (E2) for storing the parameter group transferred to the support device according to the request received from the support device is included.
The support device is
A collating unit for collating the parameter group of the first storage area from the first controller with the parameter group of the second storage area from the second controller is included.
A support device that selects one of the parameter group of the first storage area and the parameter group of the second storage area according to the result of the collation, and restores the selected parameter group.

[Structure 7]
A program executed by an information processing device (500) connected to a control system (1).
The control system is
The first controller (100) and
A drive device (300) for driving a motor (400) according to a first command from the first controller.
A second controller (200) for transmitting a second command relating to the operation of the safety function to the drive device is provided.
The drive device executes the safety program (3202) in accordance with the second command while referring to the parameter group.
The first controller is
A first storage area (E1) for storing the parameter group is included, and the parameter group of the first storage area is transferred to the information processing device according to a request received from the information processing device.
The second controller is
A second storage area (E2) for storing the parameter group transferred to the information processing device according to the request received from the information processing device is included.
The program is applied to the processor (502) of the information processing apparatus.
A step (U12) of collating the parameter group of the first storage area from the first controller with the parameter group of the second storage area from the second controller.
According to the result of the collation, one of the parameter group of the first storage area and the parameter group of the second storage area is selected, and the step (U13) of restoring the selected parameter group is executed. ,program.

<G. Advantages>
Conventionally, there are the following three cases for the support device 500 to restore the project 530.

(I) A case where the entire project 530 is restored by uploading programs and data from the standard controller 100 and the safety controller 200 at the same time, or only the parameter group 130 of the existing project 530 is updated in the support device 500.

(Ii) A case where the project 531 is restored or the parameter group 130 of the existing project 531 is updated by uploading the program and data only from the standard controller 100.

(Iii) A case where the project 532 is restored or the paranetor group of the existing project 532 is updated by uploading the program and data only from the safety controller 200.

In cases (i) and (ii), the project can be restored without applying the project manager 5114 according to the present embodiment. On the other hand, conventionally, since the safety controller 200 does not have the parameter group of SRA, in the case (iii), the parameter group 130 cannot be uploaded to the support device 500, and the support device 500 is a control system. The parameter group 130 cannot be obtained from 1. In this regard, in the present embodiment, the safety controller 200 includes the area E2 for storing the low-sized parameter group 2109 that can restore the parameter group 130, so that even in the above case (iii), the safety controller 200 is provided. The support device 500 can restore the parameter group 130 of the control system 1 and the project 530 including the parameter group 130.

It should be considered that the embodiments disclosed this time are exemplary in all respects and not restrictive. The scope of the present invention is shown by the scope of claims, not the above description, and is intended to include all modifications within the meaning and scope equivalent to the scope of claims.

1 Control system, 2 Field network, 4 Logical connection, 60 Initial parameter group, 65 Change parameter group, 100 Standard controller, 130 Parameter group, 200 Safety controller, 300 Safety driver, 500 Support device, 530, 531, 532 project, 2109 Reducing parameters, 3202 motion safety program, 3204,5107 CRC calculation program, 3205, 5108 collation program, 5104 support program, 5105 parameter generation program, 5106 miniaturization program, 5109 load program, 5110 project management program, 5111 load. Tools, 5112 Download Tools, 5113 Upload Tools, 5114 Project Manager, 5115 Collation Units, E1, E2, E3, E4, E5, E6, E7 Areas, S1, S2, S3, S4, S5, S11, S12, S13, S14 , S15 flow.

Claims (6)

With the first controller
A drive device that drives the motor according to the first command from the first controller, and
A second controller that transmits a second command related to the operation of the safety function to the drive device, and
A support device that can be connected to the first controller is provided.
The drive device executes the safety program in accordance with the second command while referring to the parameter group.
The first controller is
A first storage area for storing the parameter group is included, and the parameter group of the first storage area is transferred to the support device according to a request received from the support device.
The second controller is
A second storage area for storing the parameter group transferred to the support device according to the request received from the support device is included.
The support device is
A collating unit for collating the parameter group of the first storage area from the first controller with the parameter group of the second storage area from the second controller is included.
A control system that selects one of the parameter group of the first storage area and the parameter group of the second storage area according to the result of the collation, and restores the selected parameter group . The second controller is
The control system according to claim 1, wherein the parameter group that has been reduced in size so that it can be restored by the support device is stored in the second storage area. The second controller further
A region for storing a second data indicating the validity of the parameter group calculated according to a predetermined formula from the parameter group of the second storage area is included.
The collation unit
A claim for collating the first data indicating the validity of the parameter group calculated according to the predetermined formula from the parameter group of the first storage area with the second data received from the second controller. Item 2. The control system according to Item 1 or 2 . Further comprising a network for sharing data with each other between the first controller, the drive device and the second controller.
The second command is transmitted via a connection formed between the second controller and the drive device using the network.
The drive device is
3. The third aspect of the present invention, wherein when the first data matches the second data received from the second controller, the connection between the drive device and the second controller is established. Control system. A support device connected to the control system
The control system is
With the first controller
A drive device that drives the motor according to the first command from the first controller, and
A second controller for transmitting a second command relating to the operation of the safety function to the drive device is provided.
The drive device executes the safety program in accordance with the second command while referring to the parameter group.
The first controller is
A first storage area for storing the parameter group is included, and the parameter group of the first storage area is transferred to the support device according to a request received from the support device.
The second controller is
A second storage area for storing the parameter group transferred to the support device according to the request received from the support device is included.
The support device is
A collating unit for collating the parameter group of the first storage area from the first controller with the parameter group of the second storage area from the second controller is included.
A support device that selects one of the parameter group of the first storage area and the parameter group of the second storage area according to the result of the collation, and restores the selected parameter group. A program executed by an information processing device connected to a control system.
The control system is
With the first controller
A drive device that drives the motor according to the first command from the first controller, and
A second controller for transmitting a second command relating to the operation of the safety function to the drive device is provided.
The drive device executes the safety program in accordance with the second command while referring to the parameter group.
The first controller is
A first storage area for storing the parameter group is included, and the parameter group of the first storage area is transferred to the information processing device according to a request received from the information processing device.
The second controller is
A second storage area for storing the parameter group transferred to the information processing device according to the request received from the information processing device is included.
The program is applied to the processor of the information processing device.
A step of collating the parameter group of the first storage area from the first controller with the parameter group of the second storage area from the second controller.
A program that selects one of the parameter group of the first storage area and the parameter group of the second storage area according to the result of the collation, and executes a step of restoring the selected parameter group.

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