JP7200580B2 - Control system, support equipment, support program - Google Patents

Description

The present invention relates to a control system and a support device and support program used for the control system.

In many manufacturing sites, the introduction of safety systems is progressing in order to use facilities and machines safely. Safety systems are designed to provide safety functions that comply with international standards, and consist of safety components such as safety controllers, safety sensors, safety switches, and safety relays.

Safety systems are required to provide safety functions to drive devices such as servo motors that drive facilities and machines. For example, Non-Patent Document 1 defines safety features to be provided for variable speed electric drive systems.

More specifically, Non-Patent Document 1 describes drive control such as STO (Safe Torque Off), SS1 (Safe Stop 1), SS2 (Safe Stop 2), SOS (Safe Operating Stop), and SBC (Safe Brake Control). Defines some safety functions associated with the equipment.

"IEC 61800-5-2:2016 Adjustable speed electrical power drive systems - Part 5-2: Safety requirements - Functional", International Electrotechnical Commission, 2016-04-18

When implementing a safety function related to the drive device as described above, a function for realizing the safety function is provided independently of the function for controlling the drive device. Each function is provided independently of each other, and communication paths are often formed independently of each other. On the other hand, when controlling the drive device, it is necessary to consider the state of the safety function.

Therefore, it is necessary to share the necessary information from the drive device provided with the function to realize the safety function.

At the device design stage of a control system, for the purpose of debugging, there are cases where it is desired to temporarily disable the data sharing settings related to such safety functions. Also, depending on the model of the drive device, etc., the state in which the sharing setting is disabled may be the default. Ultimately, we would like to implement safety control for all drive devices, but there is the problem of having to check the enabled/disabled state of each drive device one by one and enable the disabled ones. .

Also, for temporary debugging, there are cases where you want to disable the data sharing settings related to the safety function all at once.

An object of the present invention is to solve the problems described above.

A control system according to an embodiment of the present invention includes a first controller, one or more drive devices having a safety function and driving a motor according to a first command from the first controller, and a second controller for transmitting a second command related to the operation of the safety function, a network for mutually sharing data among the first controller, the drive device and the second controller, and a support device. include. The support device includes setting generation means for generating settings of data to be shared via the network for each drive device connected to the network in accordance with a user's operation. The control system includes setting reflecting means for reflecting settings corresponding to each drive device connected to the network.

According to this embodiment, settings for sharing data between a drive device and a controller or the like can be collectively performed. etc. can be made more efficient.

Preferably, the setting generation means generates settings of data to be shared via the network for each drive device according to setting contents predetermined for each model of the drive device.

According to this embodiment, even if the information held by each drive device is different, it is possible to set an appropriate exchange of information.

Preferably, the setting generating means deletes the setting of data to be shared via the network for each drive according to another user's operation.

According to this embodiment, there is a need for temporarily disabling the data sharing setting for the drive device during debugging, etc., and such a need can be met.

Preferably, the setting generating means sets the data held by the drive device to be disclosed from the drive device to the first controller.

According to this embodiment, the data held by the drive device can be shared with the first controller.

Preferably, the drive device includes a state manager that manages the state of the safety function according to the second command. Data published from the drive device reflects the second command from the second controller.

According to this embodiment, it is possible to externally refer to the state of the safety function of the drive device in accordance with a command from the second controller or the like, thereby enabling control according to the state of the safety function in the drive device. realizable.

Preferably, the support device refers to settings of data to be shared via a network for the drive device, identifies information to be disclosed among the information managed by the state management unit, and specifies the information to be disclosed. The meaning of the specified information is associated with the reference information for referencing.

According to this embodiment, it is possible to improve the efficiency of program development when creating an arbitrary program using the reference information in the support device.

Preferably, the setting generating means generates settings of data to be shared via a network for one specific drive device according to another user operation.

According to this embodiment, it is possible to satisfy the need to individually set the drive devices.

Preferably, the support device further includes acquisition means for acquiring drive devices connected to the network.

According to this embodiment, all drive devices connected to the network can be set.

Preferably, the setting generating means presents to the user the setting contents of the data to be shared via the network generated for each drive device.

According to this embodiment, the user can reflect each setting after confirming what settings are made for each drive device.

According to another embodiment of the invention, a support device is provided that is connected to the control system. The control system includes a first controller, one or more drive devices having a safety function and driving the motor according to a first command from the first controller, and the safety function for the drive device. A second controller for sending a second command and a network for sharing data between the first controller, the drives and the second controller. The support device includes setting generation means for generating settings of data to be shared via the network for each drive device connected to the network in accordance with a user's operation. The first controller includes setting reflecting means for reflecting settings corresponding to each drive device connected to the network.

According to this embodiment, settings for sharing data between a drive device and a controller or the like can be collectively performed. etc. can be made more efficient.

According to yet another embodiment of the invention, there is provided a support program running on a computer connected to the control system. The control system includes a first controller, one or more drive devices having a safety function and driving the motor according to a first command from the first controller, and the safety function for the drive device. A second controller for sending a second command and a network for sharing data between the first controller, the drives and the second controller. The support program causes the computer to generate settings for data to be shared via the network for each drive device connected to the network according to the user's operation; and a step of reflecting the corresponding settings for each drive device that is connected.

According to this embodiment, settings for sharing data between a drive device and a controller or the like can be collectively performed. etc. can be made more efficient.

According to the present invention, it is possible to provide a control system that can easily share information even when a plurality of drive devices exist.

1 is a schematic diagram showing a configuration example of a control system according to an embodiment; FIG. 3 is a schematic diagram showing functions of a control system according to the present embodiment; FIG. FIG. 2 is a schematic diagram showing a hardware configuration example of a standard controller that configures the control system according to the present embodiment; FIG. 2 is a schematic diagram showing a hardware configuration example of a safety controller that configures the control system according to the present embodiment; FIG. 2 is a schematic diagram showing a hardware configuration example of a safety driver and servo motors that configure the control system according to the present embodiment; FIG. 2 is a schematic diagram showing a hardware configuration example of a support device that configures the control system according to the present embodiment; FIG. 2 is a schematic diagram showing an example of functional allocation of the control system according to the present embodiment; FIG. FIG. 4 is a sequence diagram showing an example of a processing procedure relating to a safety function by a safety driver of the control system according to the present embodiment; It is a figure which shows an example of the motion safety function which the control system which concerns on this Embodiment provides. FIG. 4 is a diagram showing an example of a parameter set for realizing a motion safety function stored in the safety driver of the control system according to the embodiment; FIG. 4 is a diagram for explaining a form of transmission of communication frames in the control system according to the present embodiment; FIG. 4 is a diagram for explaining data transmission in the control system according to the embodiment; FIG. 4 is a schematic diagram showing an implementation example of standard control and safety control in the control system according to the present embodiment; FIG. 4 is a diagram for explaining how the standard controller of the control system according to the present embodiment refers to information on motion safety functions; FIG. 4 is a diagram for explaining a setting example of a motion safety control object disclosed by a safety driver of the control system according to the embodiment; FIG. 5 is a diagram for explaining setting processing in a support device of the control system according to the embodiment; FIG. 4 is a schematic diagram showing an example of a user interface screen provided by a support device of the control system according to the present embodiment; FIG. 10 is a diagram showing an example of a standard control program that refers to a motion safety control object 382 in the control system according to this embodiment; FIG. 5 is a diagram for explaining collective setting processing in a support device that configures the control system according to the present embodiment; FIG. 7 is a diagram for explaining an example of setting operation for process data communication in the support device according to the embodiment; FIG. 10 is a diagram for explaining another example of the process data communication setting operation in the support device according to the present embodiment; 4 is a schematic diagram showing an example of the data structure of a common setting template held by the support device according to the embodiment; FIG. 7 is a flow chart showing an example of a processing procedure for realizing batch setting in a support device that constitutes the control system according to the present 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 given the same reference numerals, and the description thereof will not be repeated.

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

FIG. 1 is a schematic diagram showing a configuration example of a control system 1 according to this embodiment. The control system 1 according to the present embodiment provides, for example, a safety function for the drive device defined in Non-Patent Document 1 above, in addition to the safety function defined in IEC 61508 or the like.

Referring to FIG. 1 , control system 1 mainly includes standard controller 100 , safety controller 200 and one or more safety drivers 300 connected to standard controller 100 via field network 2 . Each safety driver 300 is an example of a drive device having a safety function, and drives an electrically connected servomotor 400 . Any type of actuator (for example, a three-phase AC motor, a DC motor, a single-phase AC motor, a polyphase AC motor, a linear servo, etc.) can be employed without being limited to the servomotor 400 . Also, 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 a drive device.

The standard controller 100 corresponds to a first controller, and performs standard control on controlled objects including the servomotor 400 according to a pre-created standard control program. Typically, standard controller 100 periodically issues commands to actuators such as servomotor 400 by cyclically executing control operations in response to input signals from one or more sensors (not shown). Calculate to

The safety controller 200 transmits to the safety driver 300 a safety command (second command) relating to the operation of the safety function. More specifically, the safety controller 200 cyclically executes monitoring and control calculations for realizing safety functions for the controlled object, independently of the standard controller 100 . The safety controller 200 can accept input signals from any safety device 240 and/or output commands to any safety device 240 .

The safety driver 300 drives the servomotor 400 by supplying power to the servomotor 400 according to 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 feedback signals from the servomotor 400 and the like.

Furthermore, the safety driver 300 has a safety function related to driving the servomotor 400 . More specifically, the safety driver 300 provides the safety controller 200 with status information necessary for the safety function, and adjusts or cuts off the power supplied to the servo motor 400 according to the required safety function.

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

In this specification, "device" is a general term for devices capable of data communication with other devices via any network such as the field network 2. FIG. In the control system 1 according to the present embodiment, "devices" include the standard controller 100, the safety controller 200 and the safety driver 300.

In this specification, the terms "standard control" and "safety control" are used in contrast. "Standard control" is a generic term for processes for controlling controlled objects in accordance with predetermined required specifications. On the other hand, "safety control" is a general term for processes for preventing human safety from being threatened by facilities, machines, and the like. "Safety control" is designed to meet the requirements for realizing safety functions specified in IEC 61508 and the like.

In this specification, the safety functions unique to the drive device are collectively referred to as "motion safety functions". Typically, "function" encompasses safety functions associated with the drive defined in Non-Patent Document 1 above. For example, it includes control for ensuring safety by monitoring the position and speed of the control axis.

As used herein, "process data" is a generic term for data used in at least one of standard control and safety control. Specifically, "process data" includes input information acquired from the controlled object, output information output to the controlled object, internal information used for control calculations in each device, and the like.

Input information includes ON/OFF signals (digital input) detected by photoelectric sensors, physical signals (analog inputs) detected by temperature sensors, and pulse signals generated by pulse encoders (pulse inputs). contain. Output information includes ON/OFF (digital output) for driving relays, etc., speed command (analog output) for indicating the rotation speed of a servomotor, and displacement command (pulse output) for indicating the amount of movement of a stepping motor. output), etc. The internal information includes state information and the like that are determined by control calculation and the like using arbitrary process data as input.

Basically, the value of "process data" is updated every control cycle or communication cycle. Here, updating means reflecting the latest value, and may include the case where the value does not change before and after updating.

FIG. 2 is a schematic diagram showing functions of the control system 1 according to this embodiment. Referring to FIG. 2, each of safety drivers 300 has a safety function and drives servo motor 400 according to a command (first command) from standard controller 100 . Further, each of the safety drivers 300 is given a safety command (second command) relating to the operation of the safety function from the safety controller 200 . This safety command is transmitted via the logical connection 4 formed between the safety controller 200 and the safety driver 300 using the field network 2 .

Field network 2 is used to share data between standard controller 100 , one or more safety drivers 300 and safety controller 200 . Typically, process data communication is realized by cyclically transmitting communication frames through the field network 2 . Data is shared by using this process data communication.

Each of the safety drivers 300 performs data sharing processing such as updating information to be disclosed to other devices and receiving information transmitted from other devices, according to setting information 3206 stored in advance.

Support device 500 is typically connected to control system 1 via standard controller 100 . The support device 500 is capable of setting and developing programs for each device included in the control system 1 .

In this embodiment, the support device 500 has a setting generation module 10 . The setting generation module 10 may typically be implemented by the processor of the support device 500 executing a support program (details will be described later).

The setting generation module 10 generates settings of data to be shared via the field network 2 for each safety driver 300 connected to the field network 2 according to user's operation. This data setting is included in the setting information 3206 . The setting generation module 10 includes the network configuration of the field network 2 including the safety driver 300 and settings of each device.

Process data communication by the field network 2 is realized by the standard controller 100 functioning as a communication master. A standard controller 100 functioning as a communication master has a setting reflection module 20 . Settings generated by the setting generation module 10 of the support device 500 are transferred to the standard controller 100 . The setting reflection module 20 of the standard controller 100 reflects the setting to each device while the field network 2 is in network state transition. That is, the setting reflection module 20 reflects the corresponding settings to each safety driver 300 connected to the field network 2 .

Note that the setting reflection module 20 may be arranged in the support device 500 . In this case, the setting reflection module 20 of the support device 500 writes the setting to the safety driver 300 .

By adopting such a configuration, even when a plurality of safety drivers 300 are connected to the field network 2, data sharing via the field network 2 can be collectively set. Therefore, it is possible to improve the working efficiency of the setting.

<B. Configuration Example of Devices Included in Control System 1>
Next, a configuration example of devices included in the control system 1 will be described.

(b1: standard controller 100)
FIG. 3 is a schematic diagram showing a hardware configuration example of the standard controller 100 that configures the control system 1 according to this embodiment. 3, standard controller 100 includes processor 102, main memory 104, storage 110, host network controller 106, field network controller 108, USB (Universal Serial Bus) controller 120, and memory card interface. 112 and a local bus controller 116 . These components are connected via processor bus 118 .

The processor 102 mainly corresponds to a calculation processing unit that executes control calculations related to standard control, and is composed of a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), or the like. Specifically, processor 102 reads a program (for example, system program 1102 and standard control program 1104) stored in storage 110, develops it in main memory 104, and executes it, depending on the object to be controlled. It implements control calculations and various types of processing to be 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 configured by, for example, a non-volatile storage device such as SSD (Solid State Drive) or HDD (Hard Disk Drive).

The storage 110 stores a system program 1102 for realizing basic functions as well as a standard control program 1104 created according to the object to be controlled. Further, the storage 110 stores setting information 1106 for setting variables and the like, which will be described later.

The host network controller 106 exchanges data with any information processing device via the host network.

Field network controller 108 exchanges data with arbitrary devices including safety controller 200 and safety driver 300 via field network 2 . In the control system 1 shown in FIG. 3 , the field network controller 108 of the standard controller 100 functions as the communication master of the field network 2 .

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

Memory card interface 112 accepts 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 (log, trace data, etc.) from the memory card 114 .

Local bus controller 116 transfers data to and from any unit connected to standard controller 100 via a local bus.

FIG. 3 shows a configuration example in which necessary functions are provided by the processor 102 executing a program. (Application Specific Integrated Circuit) or FPGA (Field-Programmable Gate Array), etc.). Alternatively, the main part of the standard controller 100 may be implemented using hardware conforming to a general-purpose architecture (for example, an industrial personal computer based on a general-purpose personal computer). In this case, virtualization technology may be used to execute a plurality of OSs (Operating Systems) for different purposes in parallel, and necessary applications may be executed on each OS. Furthermore, a configuration in which functions such as a display device and a support device are integrated into the standard controller 100 may be employed.

(b2: safety controller 200)
FIG. 4 is a schematic diagram showing a hardware configuration example of the safety controller 200 that configures the control system 1 according to this embodiment. Referring to FIG. 4, safety controller 200 includes processor 202 , main memory 204 , storage 210 , field network controller 208 , USB controller 220 and safety local bus controller 216 . These components are connected via processor bus 218 .

The processor 202 mainly corresponds to a calculation processing unit that executes control calculations related to safety control, and is configured by a CPU, GPU, or the like. Specifically, processor 202 reads programs (for example, system program 2102 and safety program 2104) stored in storage 210, develops them in main memory 204, and executes them to provide necessary safety functions. It implements control calculations for performing and various types of processing to be described later.

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

The storage 210 stores a system program 2102 for realizing basic functions as well as a safety program 2104 created according to required safety functions. Further, the storage 210 stores setting information 2106 for setting variables and the like, which will be described later.

Field network controller 208 exchanges data with arbitrary devices including standard controller 100 and safety driver 300 via field network 2 . In the control system 1 shown in FIG. 3, the field network controller 208 of the safety controller 200 functions as a communication slave of the field network 2. FIG.

The USB controller 220 exchanges data with an information processing device such as the 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 the safety IO unit 230 as an example of the safety unit.

The safety IO unit 230 exchanges input/output signals with an arbitrary safety device 240 . More specifically, the safety IO unit 230 receives input signals from safety devices 240 such as safety sensors and safety switches. Alternatively, safety IO unit 230 outputs a command to safety device 240 such as a safety relay.

FIG. 4 shows a configuration example in which necessary functions are provided by the processor 202 executing a program. Alternatively, it may be implemented using an FPGA, etc.). Alternatively, the main part of the safety controller 200 may be implemented using hardware following a general-purpose architecture (for example, an industrial personal computer based on a general-purpose personal computer).

(b3: 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 that configure the control system 1 according to the present embodiment. Referring to FIG. 5, safety driver 300 includes field network controller 302 , control section 310 , drive circuit 330 and feedback reception circuit 332 .

Field network controller 302 exchanges data with arbitrary devices including standard controller 100 and safety controller 200 via 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 required to operate the safety driver 300 . As an example, controller 310 includes processors 312 and 314 , main memory 316 , and storage 320 .

The processor 312 corresponds to an arithmetic processing unit that mainly executes control arithmetic operations for driving the servomotor 400 . The processor 314 corresponds to an arithmetic processing unit that mainly executes control arithmetic operations for providing safety functions related to the servomotor 400 . Both of the processors 312 and 314 are configured by a CPU or the like.

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

The storage 320 contains a servo control program 3202 for realizing the servo control 350, a motion safety program 3204 for realizing the motion safety function 360, and setting information for setting variables to be exposed to other devices. 3206 are stored.

FIG. 5 exemplifies a configuration in which the two processors 312 and 314 execute control calculations for different purposes, thereby enhancing reliability. may be adopted. For example, where a single processor includes multiple cores, processors 312 and 314 may each perform corresponding control operations. FIG. 5 shows a configuration example in which necessary functions are provided by the processors 312 and 314 executing programs. (eg, ASIC or FPGA).

Drive circuit 330 includes a converter circuit, an inverter circuit, and the like, and according to a command from control unit 310 , generates power of specified voltage, current, and phase, and supplies it to servo motor 400 .

Feedback receiving circuit 332 receives a feedback signal from servo motor 400 and outputs the reception result to control section 310 .

Servo motor 400 typically includes a three-phase AC motor 402 and an encoder 404 attached to the rotating shaft of the three-phase AC motor 402 .

The three-phase AC motor 402 is an actuator that receives power supplied from the safety driver 300 and generates rotational force. Although FIG. 5 illustrates a three-phase AC motor as an example, the motor is not limited to this, and may be a DC motor, a single-phase AC motor, or a polyphase AC motor. Furthermore, an actuator that generates driving force along a straight line, such as a linear servo, may be employed.

Encoder 404 outputs a feedback signal (typically, the number of pulse signals corresponding to the number of revolutions) corresponding to the number of revolutions of three-phase AC motor 402 .

(b4: support device 500)
FIG. 6 is a schematic diagram showing a hardware configuration example of the support device 500 that configures the control system 1 according to this embodiment. Support device 500 is implemented, for example, by using hardware (for example, a general-purpose personal computer) conforming to a general-purpose architecture.

Referring to FIG. 6 , support device 500 includes processor 502 , main memory 504 , input section 506 , output section 508 , storage 510 , optical drive 512 and USB controller 520 . These components are connected via processor bus 518 .

The processor 502 is composed of a CPU, a GPU, or the like, and reads out a program (for example, an OS 5102 and a support program 5104) stored in the storage 510, expands it to the main memory 504, and executes it. Realize processing.

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

The storage 510 stores a support program 5104 for providing the function of the support device 500 in addition to an OS 5102 for realizing basic functions. That is, the support program 5104 is executed by a computer connected to the control system 1 to implement the support device 500 according to the present embodiment.

Furthermore, the storage 510 stores project data 5106 created by the user in the development environment provided by executing the support program 5104 .

In the present embodiment, the support device 500 provides a development environment in which settings for each device included in the control system 1 and creation of programs to be executed by each device can be made in an integrated manner. Project data 5106 includes data generated by such an integrated development environment. Project data 5106 typically includes standard control source programs 5108 , standard controller configuration information 5110 , safety source programs 5112 , safety controller configuration information 5114 , and safety driver configuration information 5116 .

The standard control source program 5108 is converted into object code, transmitted to the standard controller 100, and stored as the standard control program 1104 (see FIG. 3). Similarly, standard controller setting information 5110 is also transmitted to standard controller 100 and stored as setting information 1106 (see FIG. 3).

The safety source program 5112 is converted into object code, transmitted to the safety controller 200, and stored as the safety program 2104 (see FIG. 3). Similarly, the safety controller setting information 5114 is also transmitted to the safety controller 200 and stored as the setting information 2106 (see FIG. 4).

The safety driver setting information 5116 is transmitted to the safety driver 300 and stored as the setting information 3206 (see FIG. 5).

An input unit 506 is composed of a keyboard, a mouse, and the like, and receives user operations. An output unit 508 includes a display, various indicators, a printer, and the like, and outputs processing results from the processor 502 and the like.

USB controller 520 exchanges data with standard controller 100 or the like via a USB connection.

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

The support program 5104 and the like executed by the support device 500 may be installed via the computer-readable recording medium 514, or may be installed by being downloaded from a server device or the like on the network. Also, the functions provided by the support device 500 according to the present embodiment may be realized by using some of the modules provided by the OS.

FIG. 6 shows a configuration example in which the functions necessary for the support device 500 are provided by the processor 502 executing a program. It may be implemented using circuitry (eg, ASIC, FPGA, etc.).

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

<C. Function sharing of control system 1>
Next, an example of division of functions in the control system 1 will be described. FIG. 7 is a schematic diagram showing an example of functional sharing of the control system 1 according to the present embodiment.

Referring to FIG. 7, safety driver 300 executes servo control 350 with respect to standard control 150 executed by 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 controlled object. Also, the servo control 350 includes control for driving the servo motor 400 according to commands periodically calculated by the standard control 150, and processing for obtaining and outputting a state value indicating the operating state of the servo motor 400. . Servo control 350 is handled by processor 312 (see FIG. 5) of safety driver 300 .

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

The safety function 250 is predetermined based on the state value held by the standard control 150 executed by the standard controller 100, the state value indicated by the signal from the safety device 240, the 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 activating a safety function designated 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, a safety command related to power supply to a specific device). relay), etc.

Safety driver 300 provides specified motion safety functions 360 in response to safety commands from safety controller 200 . Intervening in the control of the servo motor 400 by the servo control 350 to cut off the power supply to the servo motor 400 or controlling the servo motor 400 by the servo control 350 according to the type of the designated motion safety function 360 is within a predetermined limit range.

FIG. 8 is a sequence diagram showing an example of a processing procedure related to the safety function by the safety driver 300 of the control system 1 according to this embodiment. Referring to FIG. 8, a command is periodically calculated by standard control 150 of standard controller 100 and output to safety driver 300 (servo control 350) (sequence SQ2). Servo control 350 of safety driver 300 drives servo motor 400 in accordance with a command from standard control 150 (sequence SQ4).

At a certain timing, when a safety event occurs from the safety device 240 (for example, a safety sensor) (sequence SQ6), the safety controller 200 outputs a safety command to the safety driver 300 (motion safety function 360) (sequence SQ8). In response to this safety command, motion safety function 360 of safety driver 300 activates the designated safety function (sequence SQ10).

In response to the activation of the safety function, standard control 150 of standard controller 100 calculates and outputs a command according to the activated safety function (sequence SQ12). On the other hand, the safety driver 300 (motion safety function 360) monitors whether the operating state of the servomotor 400 is within a predetermined limit range. When it is determined that the operating state of the servomotor 400 is not within the predetermined limit range, or when the predetermined stop time arrives, the safety driver 300 (motion safety function 360) stops the servomotor 400 is cut off (sequence SQ14).

In this way, the safety driver 300 can drive the servo motor 400 according to a command from the standard controller 100 (standard control 150), and can also drive the safety controller 200 (safety function 250) according to a command for enabling the safety function. It is possible to realize a motion safety function for

<D. Motion Safety Function of Control System 1>
Next, an example of the motion safety function provided by the control system 1 will be described.

FIG. 9 is a diagram showing an example of the motion safety function provided by the control system 1 according to this embodiment. FIG. 9A shows an example of the behavior of the servomotor 400 corresponding to STO (Safe Torque Off), and FIG. 9B shows the behavior of the servomotor 400 corresponding to SS1 (Safe Stop 1). Here is an example.

Referring to FIG. 9A, when a safety command (STO) is given at time t1 while servomotor 400 is operating at a certain rotational speed, safety driver 300 supplies power to servomotor 400. is shut off to make the torque generated by the servomotor 400 zero. As a result, the servomotor 400 coasts and then stops. If the servomotor 400 is equipped with a brake, the servomotor 400 can be stopped immediately.

Referring to FIG. 9B, when servomotor 400 is operating at a certain rotational speed and a safety command (SS1) is given at time t1, safety driver 300 rotates at a predetermined acceleration. Reduce speed. At this time, the safety driver 300 may perform power recovery (that is, regeneration) from the servomotor 400 or the like. Then, when the rotation speed of the servo motor 400 becomes zero at time t2, the safety driver 300 cuts off the power supply to the servo motor 400 and makes the torque generated by the servo motor 400 zero. After time t2, the state is similar to that of STO shown in FIG. 9A.

Of the STO shown in FIG. 9A and SS1 shown in FIG. selected.

Non-Patent Document 1 mentioned above defines not only the motion safety function shown in FIGS. 9A and 9B, but also a plurality of motion safety functions. In order to implement each motion safety function, settings are required to define the behavior of the servo motor 400 .

FIG. 10 is a diagram showing an example of the parameter set 390 for realizing the motion safety function stored in the safety driver 300 of the control system 1 according to this embodiment. Referring to FIG. 10 , parameter set 390 includes one or more set values (parameters) corresponding to each motion safety function provided by safety driver 300 .

For example, settings corresponding to motion safety features may include velocity range, acceleration range, stop time, and the like.

Typically, the user operates the support device 500 to determine the behavior of the motion safety function in the safety driver 300 , and the parameter set 390 corresponding to the determined behavior is transferred to the safety driver 300 . The safety driver 300 pre-stores the parameter set 390 from the support device 500 .

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

FIG. 11 is a diagram for explaining the form of transmission of communication frames in the control system 1 according to this embodiment. Referring to FIG. 11, in field network 2 of control system 1, process data communication is performed, and communication frame 600 is cyclically (for example, several to ten-odd milliseconds) with standard controller 100 as the communication master. Cycle through devices. The cycle in which the communication frame 600 is transmitted is also called a process data communication cycle.

In this embodiment, EtherCAT (registered trademark) is adopted as an example of the protocol of the field network 2 for cyclically transmitting such communication frames 600 .

A data area is assigned to each device in the communication frame 600 . Each device, upon receiving the communication frame 600 that is periodically transmitted, writes the current value of preset data in the data area assigned to the device within the received communication frame 600 . Then, the communication frame 600 after writing the current value is sent to the next-stage device. The current value of data written by each device can be referenced from other devices.

Each device writes the current value of the preset data in the communication frame 600, so that the communication frame 600 that goes around the field network 2 and returns to the communication master (standard controller 100) contains the latest data collected by each device. value will be included.

In the present embodiment, using such process data communication, the logical connection 4 is formed between each of the safety controller 200 and the safety driver 300 (see FIG. 11). 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 using a protocol called FSoE (FailSafe over EtherCAT).

More specifically, a dedicated data area for storing commands exchanged to form the logical connection 4 is allocated to the communication frame 600 . A logical connection 4 is formed by exchanging commands between devices using the dedicated data area.

FIG. 12 is a diagram for explaining data transmission in the control system 1 according to this embodiment. Referring to FIG. 12, communication frame 600 defines data area 620 used for logical connection 4 in addition to data area 610 used for process data communication.

Data area 610 includes data area 611 assigned to standard controller 100 , data areas 612 , 613 and 614 assigned to safety driver 300 , and data area 615 assigned to safety controller 200 .

Data areas 612, 613, 614 and 615 are composed of IN data areas 6121, 6131, 6141 and 6151 for disclosing data from each device to other devices, and OUT data areas 6122 and 6122 for receiving commands from each device. 6132, 6142, 6152.

The IN data areas 6121, 6131, 6141, and 6151 are data areas in which process data managed by each device and to be disclosed to other devices are written. Each device writes necessary data to the IN data area assigned to itself within the communication frame 600, so that other devices can refer to the written data. Normally, the standard controller 100 refers to the data written by each device in each communication cycle and executes control calculations related to standard control to calculate commands for each device.

In the OUT data areas 6122, 6132, 6142 and 6152 are written commands given to each device. Each device refers to the data stored in the OUT data area assigned to itself within the communication frame 600 to generate an output signal to the controlled object or update the internal control state. Basically, the standard controller 100 writes data to the OUT data area of each device.

The data write and read operations of each device with respect to the data area 610 used for process data communication are set in advance according to the data area assigned to each device. Such data write and read setting operations are performed by the user on the support device 500 . Then, the setting information is transmitted from the support apparatus 500 to each device.

On the other hand, the data area 620 used for the logical connection 4 includes data areas 621 , 622 and 623 assigned to the safety driver 300 and a data area 624 assigned to the safety controller 200 . Each device writes and reads a communication frame (hereinafter also referred to as “safety communication frame 630”) related to logical connection 4 to data areas 621 , 622 , 623 and 624 . The standard controller 100, which is the communication master, exchanges the stored safety communication frames 630 among the data areas 621, 622, 623, 624. FIG. Such return processing by the communication master enables the safety communication frame 630 to perform a kind of peer-to-peer communication.

FIG. 12 shows, as an example, processing when the safety communication frame 630 is transmitted from the safety controller 200 to the first safety driver 300 . A safety communication frame 630 as shown in FIG. 12 is transmitted when the safety controller 200 activates a specific motion safety function for a specific safety driver 300, for example.

First, the safety controller 200 generates a safety communication frame 630 to be transmitted to the destination safety driver 300 and writes it to the data area 624 of the communication frame 600 . After that, when the communication frame 600 in which the safety communication frame 630 is written arrives at the standard controller 100 which is the communication master, the standard controller 100 copies the safety communication frame 630 stored in the data area 624 to the data area 621 . When the communication frame 600 with the safety communication frame 630 duplicated in the data area 621 arrives at the destination safety driver 300 , the destination safety driver 300 refers to the data area 621 and receives the safety communication frame 630 .

Also, the safety communication frame 630 from the safety driver 300 to the safety controller 200 is transmitted through a communication path opposite to that described above.

Thus, in the control system 1 according to this embodiment, the logical connection 4 is formed using the data area 620 within the communication frame 600 .

<F. Implementation example of standard control and safety control>
As described above, in the control system 1 according to the present embodiment, process data communication and safety communication via the logical connection 4 are possible. Next, implementation examples of standard control and safety control using each communication will be described.

FIG. 13 is a schematic diagram showing an implementation example of standard control and safety control in control system 1 according to the present embodiment. For convenience of explanation, FIG. 13 shows an example of the control system 1 including one safety driver 300 in addition to the standard controller 100 and safety controller 200 .

Referring to FIG. 13, standard controller 100 has process data communication layer 170 and IO management module 172 as main functional components. The safety controller 200 includes a process data communication layer 270, an IO management module 272, a logical connection layer 276, and a safety function state management engine 278 as main functional components. The safety driver 300 includes a process data communication layer 370, a logical connection layer 376, a motion safety function state management engine 378, a servo control execution engine 352, and a motion safety function execution engine 362 as main functional components.

Process data communication layer 170 , process data communication layer 270 and process data communication layer 370 are in charge of transferring communication frame 600 on field network 2 . Each of process data communication layer 170, process data communication layer 270, and process data communication layer 370 updates process data 174, 274, 374 of each device based on data included in communication frame 600 that has arrived. Each of the process data communication layer 170, the process data communication layer 270, and the process data communication layer 370 regenerates the communication frame 600 after writing the process data designated in advance into the data area allocated in advance. and send it to the next device. At least a portion of the process data will be shared through process data communication.

The logical connection layer 276 of the safety controller 200 and the logical connection layer 376 of the safety driver 300 are responsible for exchanging safety communication frames 630 . That is, the logical connection layer 276 and the logical connection layer 376 use the safety communication frame 630 included in the communication frame 600 according to the protocol for forming the logical connection (FSoE in the present embodiment) to send commands and data. exchange.

In the standard controller 100, the IO management module 172 updates the process data 174 by exchanging signals with the controlled object. The standard control program 1104 executed in the standard controller 100 refers to the process data 174 to execute control calculations, and updates the process data 174 with the execution results of the control calculations.

In the safety controller 200 , the IO management module 272 updates process data 274 by exchanging signals with the safety device 240 . In FIG. 13, the process data 274 are collectively represented, but the process data (for standard control) updated by process data communication and the process data (for safety control) updated by interaction with the safety device 240 may be managed at different levels.

The safety program 2104 executed in the safety controller 200 refers to the process data 274 and the safety function state management engine 278 to execute control calculations, and updates the process data 274 based on the execution results of the control calculations. , outputs internal commands to the safety function state management engine 278 .

The safety function state management engine 278 generates a command for activating a specific motion safety function for a specific safety driver 300 according to the execution result of control calculation by the safety program 2104 . The logical connection layer 276 uses safety communication frames 630 to exchange necessary commands and information with the logical connection layer 376 of the target safety driver 300 in response to commands from the safety function state management engine 278 . .

In the safety driver 300 , the servo control execution engine 352 refers to the process data 374 and feedback signal information obtained via the feedback receiving circuit 332 to execute control calculations related to servo control. The servo control execution engine 352 updates the process data 374 and outputs internal commands to the drive circuit 330 based on the execution result of the control calculation. The drive circuit 330 drives the servomotor 400 according to commands from the servo control execution engine 352 .

The motion safety function state management engine 378 corresponds to a state management unit that manages the state of the motion safety function in accordance with safety commands from the safety controller 200 . Motion safety function state management engine 378 outputs internal commands to motion safety function execution engine 362 in response to commands from safety controller 200 .

Motion safety function execution engine 362 executes the specified motion safety function.

The logical connection layer 376 responds to commands from the motion safety function state management engine 378 to exchange necessary commands and information with the logical connection layer 276 of the safety controller 200 using safety communication frames 630 .

<G. Disclosure of safety status information>
As described above, in the control system 1 according to the present embodiment, activation of the motion safety function is instructed via the logical connection 4 between the safety controller 200 and the safety driver 300 . The standard controller 100 cannot directly refer to the interactions between the safety controller 200 and the safety driver 300. Therefore, unless related data is disclosed using the data area 610 used for process data communication of the communication frame 600, the standard controller 100 determines whether or not the motion safety function is activated and whether the motion safety function is activated. Timing, etc. cannot be detected. A method of referring to the information of the motion safety function by the standard controller 100 will be described below.

Specifically, a method of using data disclosure by process data communication from the safety driver 300 will be described.

FIG. 14 is a diagram for explaining how the standard controller 100 of the control system 1 according to the present embodiment refers to the motion safety function information. In the configuration shown in FIG. 14, safety driver 300 further includes data mirror engine 380 .

The data mirror engine 380 corresponds to a data disclosure unit that discloses preset information among the information held by the motion safety function state management engine 378 via the field network 2 . Specifically, the data mirror engine 380 copies preselected information from the motion safety function information managed by the motion safety function state management engine 378 to the process data 374 for data disclosure (( 1) replication).

On the other hand, in the standard controller 100, an instruction and/or setting for acquiring information of the motion safety function disclosed by the safety driver 300 is added to the standard control program 1104 or the like ((2) information acquisition). Then, a program for controlling the safety driver 300 using the acquired motion safety function information is added to the standard control program 1104 ((3) addition of command output program). By adding such commands and/or settings, the standard controller 100 can refer to the motion safety function information and output commands for controlling the safety driver 300 .

As a more specific setting procedure example, the motion safety function state management engine 378 of the safety driver 300 manages information for each motion safety function. Settings are made to assign variables for exposure to other devices. In the present embodiment, the information disclosed by the safety driver 300 is assigned to variables in object format, and such variables in object format are hereinafter also referred to as "motion safety control objects". Each of the disclosed information (a set of information type and value) will be assigned as a property of the motion safety control object. A motion safety control object corresponds to a communication object accessible via the field network 2 .

In the standard controller 100, a program for controlling the safety driver 300 is created using necessary information among the information (properties) included in the motion safety control object disclosed by the safety driver 300. be.

As described above, when implementing data disclosure by the safety driver 300, the standard control program executed by the standard controller 100 can be relatively easily executed by selecting the information to be disclosed to the safety driver 300. 1104 can be created.

Next, an example of the motion safety control object disclosed by the safety driver 300 will be described.

FIG. 15 is a diagram for explaining a setting example of motion safety control objects disclosed by the safety driver 300 of the control system 1 according to the present embodiment.

In the example shown in FIG. 15, the motion safety control object 382 includes a control object 3821 indicating the issuance state of commands (validation/invalidation) for each motion safety, and a status object 3822 indicating the state value for each motion safety. include. Note that the number of objects is not limited to two as shown in FIG. 15, and only a single object may be prepared, or more objects may be prepared.

The motion safety function state management engine 378 of the safety driver 300 has control objects 3781, 3782, 3783, 3784, 3785, . . . for each motion safety function. The control objects 3781, 3782, 3783, 3784, 3785, . . . are data structures logically held by the motion safety function state management engine 378. FIG.

More specifically, the control objects 3781, 3782, 3783, 3784, 3785, . 3785A, . . . and information 3781B, 3782B, 3783B, 3784B, 3785B, .

Information selected in advance from the information included in the control objects 3781, 3782, 3783, 3784, 3785, . In this way, the motion safety control object 382 duplicates the information managed by the motion safety function state management engine 378, so the motion safety control object 382 can also be called a "mirror object."

The mirror object reflects the information contained in the motion safety control object 382 as it is, and is also a variable group that is open to each device connected to the field network 2 including the standard controller 100 .

Information allocated to the motion safety control object 382 is defined by the mirror object setting 384 (included in part of the setting information 3206 (see FIG. 5)). The mirror object setting 384 defines information to be copied as information (property) included in the motion safety control object 382 among the information managed by the motion safety function state management engine 378 .

In this way, the support device 500 makes the mirror object setting 384 (setting (included in part of the information 3206 (see FIG. 5)). That is, the safety command from the safety controller 200 is reflected in the data released from the safety driver 300 to the standard controller 100 .

In the configuration example shown in FIG. 14, the data mirror engine 380 is implemented by the processor 312, which is an arithmetic processing unit that executes the servo control 350, and the motion safety function state management engine 378 is an arithmetic processing unit that provides the motion safety function 360. is implemented by a processor 314 that is

When such a configuration is adopted, the event may be notified between the processors 312 and 314 by message communication or the like. Specifically, when the motion safety function state management engine 378 (processor 314) receives a command via the logical connection 4, it updates the information of the corresponding control object and also updates the data mirror engine 380 (processor 312). to notify you of information updates. Upon receiving this update notification, the data mirror engine 380 (processor 312) updates the contents of the motion safety control object 382. FIG.

<H. Reference Setting of Public Data in Support Device 500>
In the support device 500, a control object/status object setting table 560 included in part of the safety driver setting information 5116 (see FIG. 6) is defined. After the necessary safety function objects are allocated to the objects defined in the control object/status object setting table 560, the user program of the safety controller 200 controls ON/OFF of the safety functions.

In the present embodiment, both the control object/status object setting table 560 held by the support device 500 and the mirror object setting 384 held by the safety driver 300 are used for specifying information to be published. Equivalent to setting. Setting processing in the support device 500 regarding the mirror object setting 384 will be described below.

FIG. 16 is a diagram for explaining setting processing in support device 500 of control system 1 according to the present embodiment. Referring to FIG. 16 , support device 500 accepts settings related to standard controller 100 and safety driver 300 included in control system 1 . 16 shows, as an example of settings, a standard controller variable setting table 550 (included in the standard controller setting information 5110 in FIG. 6) and a control object/status object setting table 560 (included in the safety driver setting information 5116 in FIG. 6). ).

The control object/status object setting table 560 is a table that defines information included in the motion safety control object 382 published by the target safety driver 300 . The user edits the control object/status object setting table 560 on the support device 500 to set information to be included in the motion safety control object 382 published by the target safety driver 300 ((1) setting). .

More specifically, the control object/status object setting table 560 includes setting columns 562 and 564 respectively corresponding to the control object 3821 and the status object 3822 included in the motion safety control object 382 . The user sets the control object 566 of the target information in each entry of the setting columns 562 and 564 .

Information set in each entry is arbitrarily selected from control objects 3781, 3782, 3783, 3784, 3785, . be.

In this way, the support device 500 accepts the specification of information to be disclosed by the data mirror engine 380, and transfers the disclosure settings (control object/status object setting table 560) specifying the specified information to the safety driver 300. do.

The standard controller variable setting table 550 is a table that defines variables that can be referenced by the standard controller 100 . The standard controller variable setting table 550 includes settings for referencing the motion safety control objects 382 exposed by the safety driver 300 .

More specifically, the standard controller variable setting table 550 includes setting columns 552 and 554 respectively corresponding to the control object 3821 and status object 3822 included in the motion safety control object 382 .

In the standard controller 100 of the control system 1 according to the present embodiment, the motion safety control object 382 can be referenced as it is. It is also possible to set variables for each attribute contained in the .

FIG. 16 shows an example in which variables are automatically set for each attribute included in the motion safety control object 382 in the standard controller variable setting table 550 based on the settings in the control object/status object setting table 560. indicates

As shown in FIG. 16, when the user sets the control object/status object setting table 560 and then performs the reflection operation to the standard controller variable setting table 550, the variable 556 corresponding to each attribute is set in the setting columns 562 and 564. may be automatically set according to the contents of Alternatively, it may be set manually by the user. In this way, the support device 500 refers to the control object/status object setting table 560 (public setting), which is the setting for the safety driver 300, to obtain information managed by the motion safety function state management engine 378 of the safety driver 300. Information to be disclosed is specified among them, and the meaning of the specified information is associated with the variable 556 (corresponding to reference information) for referring to the information disclosed by the data mirror engine 380 .

The standard control program 1104 can refer to the variables 556 set in the standard controller variable setting table 550 .

FIG. 17 is a schematic diagram showing an example of a user interface screen provided by support device 500 of control system 1 according to the present embodiment. 17A, a setting screen 570 related to the motion safety control object 382 includes a target information display field 572, a mirror object display field 574, an attribute setting field 576, and a data type setting field 578. include.

A mirror object display field 574 displays each element (bit) included in the motion safety control object 382 . Information to be assigned to the motion safety control object 382 is set in the target information display column 572 . In the attribute setting column 576, the attribute of information to be assigned (read-only/editable) is set. In the data type setting column 578, the data type (BOOL type, real number type, etc.) of the information to be assigned is set.

The user sets information to be included in the motion safety control object 382 by operating the setting screen 570 shown in FIG. 17(A). Thereafter, when the user performs a reflection operation, a variable name that can be referred to by the standard controller 100 is automatically set as shown in FIG. 17(B).

As shown in FIG. 17(B), the setting screen 570 further has a variable name setting field 580 . A variable name setting column 580 is used to set a variable name for referring to each piece of information in the standard controller 100 . Note that the variable name set in the variable name setting field 580 may be the same as the variable name set in the target information display field 572 .

As described above, FIGS. 16 and 17 show configuration examples in which arbitrary process values are referenced using variable names as reference information. That is, in the support device 500, the information disclosed by the data mirror engine 380 of the safety driver 300 can be referenced as a variable. When reflecting the meaning of each information for such variables, it may be reflected as the name of the variable (variable name), or it may be given separately from the variable name displayed when referring to the variable. may be reflected as additional information such as comments or labels.

That is, the support device 500 may reflect the meaning of the information specified as the variable name, or may reflect the meaning of the information specified as the additional information added to the variable.

However, the reference information does not have to be a variable name. For example, the physical address or logical address of the storage area in which each process value is stored may be specified. Alternatively, identification information indicating physical addresses or logical addresses may be used as reference information. Even in such a case, the meaning of the information specified as the identification information for specifying the reference information may be reflected, or the meaning of the information specified as the additional information added to the reference information may be reflected. good too.

Further, as shown in FIG. 17B, additional information may be added so as not to conflict with information included in motion safety control objects 382 published by other safety drivers 300 . In the setting screen 570 shown in FIG. 17B, variable names to which information (“E003” in the example shown in FIG. 17) specifying the safety driver 300 that is the disclosure source is added are adopted.

As described above, the support device 500 includes the data mirror engine 380 in the reference information (typically, variables) for referring to the information published by the data mirror engine 380 of the safety driver 300. Information specifying the driver 300 may be reflected.

Also, the user assigns a variable name including a corresponding name to each bit of the disclosed motion safety control object in the setting of the standard controller 100 on the support device 500 . By adopting such variable names, reference to information included in the motion safety control object 382 can be facilitated when creating the standard control program 1104, and program creation can be made more efficient. That is, a standard control program can be created using variable names that express or imply the meaning of each bit of the motion safety control object.

FIG. 18 is a diagram showing an example of the standard control program 1104 that refers to the motion safety control object 382 in the control system 1 according to this embodiment. 18(A) and 18(B) both show instructions (code 1105) is described.

FIG. 18A shows an example of the standard control program 1104 when referring to the motion safety control object 382 as it is, and FIG. 18B shows variables associated with the motion safety control object 382. An example of the standard control program 1104 for reference is shown.

In the standard control program 1104 shown in FIG. 18(A), an IF statement using a reference instruction 582 of "E003_Mirror_Safety_statusword[3]" for referencing the 5th bit of the motion safety control object 382 is described. .

On the other hand, in the standard control program 1104 shown in FIG. 18B, an IF statement using the variable 584 of "E003_SOS_command1_active" assigned to the 5th bit information of the motion safety control object 382 is described. ing. By using the variable 584 shown in FIG. 18B in this way, it is possible to grasp at a glance which information the variable item refers to.

Thus, the support device 500 provides an environment for developing the standard control program 1104 executed by the standard controller 100. FIG. In the environment for developing this standard control program 1104, the standard control program 1104 can be created using the reference information (typically, each variable) associated with the meaning of the specified information as described above. .

<I. Setting of Process Data Communication in Support Device 500>
Next, the processing when the process data communication for the safety driver 300 is set by the support device 500 will be described. In the present embodiment, the support device 500 selects and sets the motion safety control object information to be disclosed for each safety driver 300 . Also, the data to be used among the data transmitted by the process data communication is set for each safety driver 300 .

Assuming actual operation, the control system 1 often includes a plurality of safety drivers 300, and in such a case, setting for each safety driver 300 complicates the operation.

Further, for example, when debugging a program related to the safety driver 300, it may be desired to debug only the portion related to standard control while the motion safety function of the safety driver 300 is disabled. At this time, it is preferable to disable disclosure of the motion safety control object information (mirror object) from the safety driver 300 . In such a case, deleting or invalidating the public settings for each safety driver 300 would be a complicated operation.

FIG. 19 is a diagram for explaining batch setting processing in the support device 500 that constitutes the control system 1 according to the present embodiment. Referring to FIG. 19, it is assumed that a control object/status object setting table 560 is prepared for each of the plurality of safety drivers 300 .

In the present embodiment, by the user performing a predetermined operation in the support device 500, each of the control object/status object setting table 560 is in a state in which the contents set in advance are reflected, and in what state. It is possible to collectively switch between a state in which no setting has been made. That is, when the control system 1 has a plurality of safety drivers 300, the support device 500 responds to the user's operation by Publishing via the field network 2 can be collectively enabled or disabled.

Further, in the support device 500, the same setting may be reflected in a plurality of control object/status object setting tables 560. FIG.

Specifically, the support device 500 has a common setting template 590 . The common setting template 590 includes settings for objects (more specifically, mirror objects, control objects, and status objects) that perform process data communication when using the safety function. In the support device 500 , the contents of the common setting template 590 are reflected in each control object/status object setting table 560 by the user performing a predetermined operation.

By implementing a part or all of the batch invalidation function, the batch validation function, and the batch setting function in the support device 500, the above-described operations during debugging can be made more efficient. A more specific processing example will be described below.

For convenience of explanation, the explanation is focused mainly on the data disclosure setting. It relates to the overall process data communication settings of the driver 300 . That is, the setting targets can include both public settings for data from the safety driver 300 to other devices and reference settings for data that the safety driver 300 uses among the data published from other devices. Furthermore, the data to be set is not limited to motion safety functions, and may include applications related to functions provided by the safety driver 300 .

FIG. 20 is a diagram for explaining an example of setting operation for process data communication in support device 500 according to the present embodiment. FIG. 20 shows an operation example of setting process data communication necessary for the safety function for a plurality of safety drivers 300 .

On a list screen 530 showing a list of safety drivers 300 as shown in FIG. 20A, the target safety driver 300 is selected 532 . Then, on the setting screen 540 as shown in FIG. 20B, the user selects the state information held by the safety driver 300 to be disclosed.

A setting screen 540 shown in FIG. 20B includes radio buttons 542 and 544 for selecting data to be received as commands (outputs) from the standard controller 100 or the safety controller 200, and data to be opened to the standard controller 100 or the safety controller 200. and radio buttons 546, 548 for selecting data.

Each of radio buttons 542, 544, 546, 548 is associated with a preset parameter set. When one of the radio buttons is selected, a setting display 541 showing the content of the parameter set associated with the selected radio button is provided within the setting screen 540 .

A radio button that is not associated with any parameter set is also prepared, and process data communication is disabled by selecting this radio button.

The user selects each of the safety drivers 300 on the list screen 530 and then sequentially sets the target parameter sets.

More specifically, the user selects the target safety driver 300 on the list screen 530 showing the configuration information of the field network 2, and enables/disables the process data communication of the motion safety function on the setting screen 540. select. For activation, the user selects which parameter set. The user repeats the selection and setting operations as described above for the number of safety drivers 300 .

In this way, on the setting screen shown in FIG. 20, the user can set the information exchanged via the logical connection 4 for each safety driver 300 as the object of process data communication on the setting screen for process data communication of the safety driver 300. Add or remove.

If the device profile (ESI) of the safety driver 300 is compatible with the module device profile (MDP: Module Device Profile), enable/disable of the safety function module is selected on the setting screen 540. may

In this case, the user selects the target safety driver 300 on the list screen 530 showing the configuration information of the field network 2 and edits the module configuration of the safety driver 300 on the setting screen 540 . The user repeats the selection and setting operations as described above for the number of safety drivers 300 .

In the setting procedure as shown in FIG. 20, items or parameter sets to be set are different for each model of the safety driver 300, and the user has to perform settings according to the model. In addition, if the number of safety drivers 300 connected to the field network 2 is large, the setting is troublesome. In such a case, the following setting functions may be provided.

FIG. 21 is a diagram for explaining another example of the process data communication setting operation in support device 500 according to the present embodiment. FIG. 21 shows an operation example for setting process data communication necessary for the safety function for a plurality of safety drivers 300 .

On a list screen 530 showing a list of safety drivers 300 as shown in FIG. 300, the necessary process data communications are bulk deleted (mass disabled) or set (mass enabled).

More specifically, the setting window 536 displayed in response to selection of the collective setting function 534 includes “Add” indicating collective setting (collective enablement) and “Remove” indicating collective deletion (collective disablement). include. When the user selects "Add", collective setting is executed, and when the user selects "Remove", collective deletion is executed.

In batch setting, as shown in the setting screen 538 of FIG. 21(B), the model of the safety driver 300 is identified and settings are made according to each model. Then, the contents of the settings generated for each safety driver 300 are presented to the user. The setting corresponding to each model is realized by referring to the common setting template 590 (FIG. 19).

Thus, the user selects the batch setting function 534 on the list screen 530 showing the configuration information of the field network 2. FIG. Then, on the setting window 536, batch setting (batch enable) or batch deletion (batch disable) of the required process data communication is selected. Finally, the user confirms the execution result on the setting screen 538 .

From the user's point of view, the process data communication settings of the safety driver 300 can be collectively set or deleted by the above processing.

Next, the details of the common setting template 590 for realizing batch setting as shown in FIG. 21 will be described.

FIG. 22 is a schematic diagram showing an example of the data structure of common setting template 590 held by support apparatus 500 according to the present embodiment. Referring to FIG. 22, common setting template 590 includes setting content 594 associated with model information 592 . The model information 592 includes a list of known models of the safety driver 300 . Settings corresponding to each model are assigned to the setting content 594 .

By referring to such a common setting template 590, appropriate settings can be made for each safety driver 300 model.

Note that the common setting template 590 may be held by the support device 500 or may be held by any server device other than the support device 500 . Furthermore, the information stored in the safety driver 300 connected to the field network 2 may be collected and dynamically generated by the support device 500 or another information processing device.

Next, a description will be given of a processing procedure for implementing batch settings relating to process data communication.

FIG. 23 is a flow chart showing an example of a processing procedure for realizing collective setting in the support device 500 configuring the control system 1 according to the present embodiment. Each step shown in FIG. 23 is typically implemented by processor 502 of support device 500 executing support program 5104 .

Referring to FIG. 23, support device 500 searches for safety drivers 300 connected to field network 2 in response to a user operation, and obtains a list of target safety drivers 300 (step S100). . That is, the support device 500 has an acquisition function of acquiring the safety driver 300 connected to the field network 2 .

The obtained list of safety drivers 300 is reflected on the list screen 530 (see FIG. 20A).

Subsequently, the support device 500 determines whether or not a specific safety driver 300 has been selected (step S102). When a specific safety driver 300 is selected (YES in step S102), support device 500 displays a list of parameter sets that can be set for the selected safety driver 300 (step S104), and selects a parameter set. is accepted (step S106) (see FIG. 20B). Further, the support device 500 reflects the selected parameter set on the selected safety driver 300 (step S108). Then, the process proceeds to step S130.

In this way, the support device 500 can also generate settings for one specific safety driver 300 in accordance with user operations for individual settings.

On the other hand, if a specific safety driver 300 is not selected (NO in step S102), support device 500 determines whether or not the collective setting function is selected (step S112) (see FIG. 21 (A )reference). When the batch setting function is selected (YES in step S112), support device 500 determines which of batch setting and batch deletion was selected (step S114).

When batch setting is selected ("batch setting" in step S114), the support device 500 selects one of the safety drivers 300 included in the list (step S116), refers to the common setting template 590, The setting contents corresponding to the selected safety driver 300 are acquired (step S118). Then, the acquired setting contents are reflected in the selected safety driver 300 (step S120). In this way, the support device 500 generates settings of data to be shared via the field network 2 for each safety driver 300 connected to the field network 2 according to the user's operation. do. At this time, the support device 500 refers to the common setting template 590 to generate settings for each safety driver 300 in accordance with setting details predetermined for each model of the safety driver 300 .

If the settings have not been reflected for all of the safety drivers 300 included in the list (NO in step S122), the processing from step S116 onward is repeated. If the settings have been reflected in all of the safety drivers 300 included in the list (YES in step S122), the process proceeds to step S130.

When collective deletion is selected ("collective deletion" in step S114), the support device 500 selects one of the safety drivers 300 included in the list (step S124), and sets the selected safety driver 300. The contents are cleared (step S126). If the settings have not been reflected for all of the safety drivers 300 included in the list (NO in step S128), the processing from step S124 onward is repeated. If the settings have been cleared for all safety drivers 300 included in the list (YES in step S128), the process proceeds to step S130.

In this way, the support device 500 deletes the settings for each safety driver 300 according to the collective deletion user operation.

On the other hand, if the collective setting function is not selected (NO in step S112), the processing from step S102 onward is repeated.

In step S130, the support device 500 determines whether or not an instruction to reflect the setting to the safety driver 300 has been issued (step S130). When it is instructed to reflect the setting to the safety driver 300 (YES in step S130), the support device 500 transfers the set content to the target safety driver 300 (step S132). That is, the support device 500 reflects the corresponding settings to each safety driver 300 connected to the field network 2 . Then the process ends.

On the other hand, if there is no instruction to reflect the settings in safety driver 300 (NO in step S130), the processes from step S102 onward are repeated.

<J. Variation>
In the above-described embodiment, an example of transmitting and receiving information about the motion safety function of the safety driver 300 using process data communication has been described. It can also be applied when transmitting and receiving.

In other words, the setting for publishing data used by any application executed between the safety driver 300 and any device, not limited to the motion safety function, from the safety driver 300 or for receiving data from any device can be collectively set or deleted. For example, it may be used for setting for realizing exchange of information necessary for position control, speed control, torque control, etc. for the servomotor 400 executed by the safety driver 300 .

Furthermore, when not only the safety driver 300 but any other device uses process data communication, it can be applied to a process of collectively setting or collectively deleting necessary information.

<K. Note>
The present embodiment as described above includes the following technical ideas.
[Configuration 1]
A control system (1),
a first controller (100);
one or more drive devices (300) having a safety function and 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;
a network (2) for mutually sharing data between the first controller, the drive device and the second controller;
and a support device (500), wherein the support device configures settings of data to be shared via the network for each drive device connected to the network in accordance with a user's operation. including setting generation means (10) for generating,
A control system comprising setting reflection means (20) for reflecting settings corresponding to each drive device connected to the network.
[Configuration 2]
The setting generating means (10) according to the setting contents predetermined for each model of the drive device, generates the setting of the data to be shared via the network for each drive device (S118), according to the configuration 1. control system.
[Configuration 3]
3. The control system according to configuration 1 or 2, wherein the setting generation means deletes the setting of data to be shared via the network for each drive according to another user operation (S124, S126, S128).
[Configuration 4]
4. The control system according to any one of configurations 1 to 3, wherein the setting generating means sets the data held by the drive device to be disclosed from the drive device to the first controller.
[Configuration 5]
The drive device includes a state management unit (378) that manages the state of the safety function according to the second command,
5. The control system of configuration 4, wherein data published from the drive device reflects the second command from the second controller.
[Configuration 6]
The support device refers to the setting (560) of the data to be shared via the network for the drive device, identifies information to be disclosed among the information managed by the state management unit, and specifies the information to be disclosed. 6. Control system according to configuration 5, wherein the meaning of the identified information is associated with the reference information (556) for referencing the information of interest.
[Configuration 7]
The setting generation means generates settings of data to be shared via the network for one specific drive device according to another user operation (S104, S106, S108), any one of configurations 1 to 6 A control system as described in paragraph 1 above.
[Configuration 8]
The control system according to any one of configurations 1 to 7, wherein the support device further includes acquisition means (S100) for acquiring drive devices connected to the network.
[Configuration 9]
The control according to any one of configurations 1 to 8, wherein the setting generating means presents to the user the setting contents of the data to be shared via the network generated for each drive device (538). system.
[Configuration 10]
A support device (500) connected to a control system (1), comprising:
The control system is
a first controller (100);
one or more drive devices (300) having a safety function and 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;
a network (2) for sharing data between the first controller, the drive device and the second controller;
The support device includes setting generation means (10) for generating settings of data to be shared via the network for each drive device connected to the network in accordance with a user's operation. including
A support device, wherein the first controller includes setting reflection means (20) for reflecting settings corresponding to each drive device connected to the network.
[Configuration 11]
A support program (5104) running on a computer (500) connected to a control system (1),
The control system is
a first controller (100);
one or more drive devices (300) having a safety function and 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;
a network (2) for sharing data between the first controller, the drive device and the second controller;
The support program causes the computer to generate settings for data to be shared via the network for each drive device connected to the network according to user operations (S116, S118, S120, S122) and
A support program for executing steps (S130, S132) of reflecting corresponding settings to each drive device connected to the network.

<L. Advantage>
According to the control system 1 according to the present embodiment, settings for sharing data between the safety driver 300 and other units can be collectively performed. Even so, the startup of the control system 1 can be made efficient.

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

1 control system, 2 field network, 4 logical connection, 10 setting generation module, 20 setting reflection module, 100 standard controller, 102, 202, 312, 314, 502 processor, 104, 204, 316, 504 main memory, 106 host network controller, 108, 208, 302 field network controller, 110, 210, 320, 510 storage, 112 memory card interface, 114 memory card, 116 local bus controller, 118, 218, 518 processor bus, 120, 220, 520 USB controller, 150 standard control, 170,270,370 process data communication layer, 172,272 management module, 174,274,374 process data, 200 safety controller, 216 safety local bus controller, 230 safety IO unit, 240 safety device, 250 safety function , 276, 376 logical connection layer, 278 safety function state management engine, 300 safety driver, 310 control unit, 330 drive circuit, 332 feedback receiving circuit, 350 servo control, 352 servo control execution engine, 360 motion safety function, 362 motion safety function execution engine, 378 motion safety function state management engine, 380 data mirror engine, 382 motion safety control object, 384 mirror object setting, 390 parameter set, 400 servo motor, 402 three-phase AC motor, 404 encoder, 500 support device, 506 input unit, 508 output unit, 512 optical drive, 514 recording medium, 530 list screen, 532 selection, 534 collective setting function, 536 setting window, 538, 540, 570 setting screen, 541 setting display, 542, 544, 546, 548 radio button, 550 standard controller variable setting table, 552, 562 setting column, 556, 584 variable, 560 control object/status object setting table, 566 control object 572 Target information display column 574 Mirror object display column 576 Attribute setting column 578 Data type setting column 580 Variable name setting column 582 Reference command 590 Common setting template 592 Model information 594 Setting content 600 Communication frame , 610, 611, 612, 613, 614, 615, 620, 621, 622, 623, 624, 6121, 6122, 6131, 6132, 6141, 6142, 6151, 6152 data area, 630 safety communication frame, 1102, 2102 system Program 1104 Standard control program 1105 Code 1106, 2106, 3206 Setting information 2104 Safety program 3202 Servo control program 3204 Motion safety program 3781, 3782, 3783, 3784, 3785 Object for control 3781A, 3781B, 3782A , 3782B, 3783A, 3783B, 3784A, 3784B, 3785A, 3785B information, 3821 control object, 3822 status object, 5102 OS, 5104 support program, 5106 project data, 5108 standard control source program, 5110 standard controller setting information, 5112 safety source Program, 5114 safety controller setting information, 5116 safety driver setting information.

Claims (11)

A control system,
a first controller;
one or more drive devices having a safety function and driving a motor according to a first command from the first controller;
a second controller that transmits a second command related to the operation of the safety function to the drive device;
a network for sharing data with each other by cyclically circulating communication frames among the first controller, the drive device, and the second controller;
a support device, wherein the support device generates settings for data to be shared via the network for each drive device connected to the network according to a user's operation. including generating means;
setting reflection means for reflecting settings corresponding to each drive device connected to the network ;
Each drive device executes processing for sharing data, including updating data to be transmitted via the communication frame and receiving data transmitted via the communication frame, according to the reflected settings. control system. 2. The control system according to claim 1, wherein said setting generation means generates settings of data to be shared via said network for each drive device according to setting contents predetermined for each model of drive device. 3. The control system according to claim 1, wherein said setting generating means deletes settings of data to be shared via said network for each drive according to another user's operation. 4. The control system according to any one of claims 1 to 3, wherein said setting generating means sets data held by said drive device to be disclosed from said drive device to said first controller. the drive device includes a state management unit that manages the state of the safety function according to the second command;
5. The control system of claim 4, wherein data published from said drive device reflects said second command from said second controller. The support device refers to settings of data to be shared via the network for the drive device, identifies information to be disclosed among the information managed by the state management unit, and specifies the information to be disclosed. 6. The control system of claim 5, wherein the meaning of the identified information is associated with the reference information for referring to the. 7. The control system according to any one of claims 1 to 6, wherein said setting generation means generates settings of data to be shared via said network for one specific drive device according to another user operation. . 8. The control system according to any one of claims 1 to 7, wherein said support device further includes acquisition means for acquiring drive devices connected to said network. 9. The control system according to any one of claims 1 to 8, wherein said setting generating means presents to the user the setting contents of data to be shared via said network generated for each drive device. A support device connected to a control system, comprising:
The control system is
a first controller;
one or more drive devices having a safety function and driving a motor according to a first command from the first controller;
a second controller that transmits a second command related to the operation of the safety function to the drive device;
a network for sharing data with each other by cyclically circulating communication frames among the first controller, the drive device, and the second controller;
The support device includes setting generation means for generating settings of data to be shared via the network for each drive device connected to the network in accordance with a user's operation,
the first controller includes setting reflection means for reflecting settings corresponding to each drive device connected to the network;
Each drive device executes processing for sharing data, including updating data to be transmitted via the communication frame and receiving data transmitted via the communication frame, according to the reflected settings. support device. A support program running on a computer connected to the control system, comprising:
The control system is
a first controller;
one or more drive devices having a safety function and driving a motor according to a first command from the first controller;
a second controller that transmits a second command related to the operation of the safety function to the drive device;
a network for sharing data with each other by cyclically circulating communication frames among the first controller, the drive device, and the second controller;
the support program causing the computer to generate settings for data to be shared via the network for each drive device connected to the network according to a user's operation;
a step of reflecting the corresponding settings for each drive device connected to the network ;
Each drive device executes processing for sharing data, including updating data to be transmitted via the communication frame and receiving data transmitted via the communication frame, according to the reflected settings. support program.

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