JPH01293044A - Series controller - Google Patents

Abstract

PURPOSE:To secure the simultaneousness at each node by introducing data train length data indicating the data train lengths of data in signals and at the same time, detecting the terminating end of each data based on the data train length data. CONSTITUTION:The terminating end of each data is detected based on the data train length of data contained in signals from the node of the preceding stage and the data train length of data added or extracted at its own node. The data train length data contained in the signal from the node of the preceding stage are changed to the data train length data corresponding to the train length of the data outputted from its own node and sent after the changed data train length data are included in the signals sent to the node of the succeeding stage. Since such constitution is realized without using any stop code, the time loss due to the signal processing related to the stop code can be eliminated and the simultaneousness can be secured at each node.

Description

[Detailed Description of the Invention] [Industrial Field of Application] This invention is applicable to centralized management systems for various machines such as presses, machine tools, construction machinery, ships and aircraft, as well as for unmanned transport devices, unmanned warehouses, etc. The present invention relates to a series control device suitable for use.

[Conventional technology]

When centrally managing presses, machine tools, construction machinery, ships, aircraft, unmanned transportation devices, unmanned warehouses, etc., it is necessary to have many sensors that detect the status of each part of the equipment, and many actuators that control the status of each part of the equipment. . For example, the number of sensors and actuators is 30 when considering a press.
00 or more, and some devices have even more numbers.

Conventionally, a centralized management system for centrally managing this type of equipment connects the many sensors and actuators mentioned above to a main controller, collects the outputs of the many sensors, and uses signals from the main controller to control the many actuators. configured to control.

In the case of such conventional centralized control systems, as the number of sensors and actuators increases, the number of wiring connecting the main controller and the sensors and actuators also increases, and the configuration of the input/output section of the main controller also becomes extremely complex. Become.

Therefore, multiple nodes are connected in series, one or more sensors and actuators are connected to each node, these nodes are connected in a ring via a main controller, and each node is controlled by signals from this main controller. A configuration like this is being considered. In such a configuration, the main controller basically only needs signal input lines and output lines, and each node only needs to connect signal input lines and output lines, so the number of wires can be significantly reduced. .

However, if the above nodes are connected in series,
The problem is how to ensure the simultaneity of collecting the outputs of each sensor and the simultaneity of controlling each actuator.

For example, if we consider a configuration in which an address is assigned to each node and each node is controlled based on this address, the time delay for this address processing becomes a problem, and it is necessary to satisfy the requirements for collecting the output of each sensor and controlling each actuator. Simultaneity cannot be guaranteed.

Therefore, the inventors abandoned the idea of allocating an address to each node even though they had a configuration in which nodes were connected in series, and instead decided to classify each node according to its connection number, thereby eliminating the need for address processing. At the same time, the present invention provides a serial control device that eliminates time delays associated with address processing and further simplifies the configuration of nodes.

According to this device, each node sequentially adds a signal from an actuator to a signal from a previous node based on a predetermined rule, and also sequentially adds a predetermined signal from a signal from a previous node based on a predetermined rule. The configuration is such that it is deleted and output to the actuator. In this case, each node does not need an address at all, and since no address processing is required, the time delay at each node is very small, just due to timing alignment, and the configuration of the node is also very simple. .

By the way, when using the above configuration, each node and the main controller will identify which node the data is from and to which node based on the order of the data (the position of the data in the signal). In order to facilitate identification, a configuration has been proposed in which a start code is placed at the leading end of the signal and a stop code is placed at the trailing end.

However, when using the above configuration, it is not possible to judge whether the rear end has been reached until the stop code is detected, and as a result, the data string length of the signal becomes longer by the code length of the stop code. The same thing happened.

[Problem to be solved by the invention]

As mentioned above, place the start code at the tip of the signal,
If a configuration is adopted in which a stop code is placed at the rear end, the length of the data string of the signal is equivalent to being increased by the length corresponding to the code length of the stop code in terms of signal processing, which causes unnecessary time loss. .

Therefore, in this invention, data string length data indicating the data string length in the signal is introduced, and the end of the data is detected based on this data string length data, thereby eliminating the need to use stop codes at all. An object of the present invention is to provide a series control device configured as follows.

[Means to solve the problem]

In this invention, each node is provided with data string length data representing the data string length of data to be received at each node, ie, data from the previous stage. Each node detects the end of the data string length based on this data string length data.

That is, in this invention, a plurality of nodes are connected in series, and one or more terminals are connected to each node, and each node receives the input data from each terminal included in the signal from the previous node. In a serial control device that adds a signal from a terminal connected to a terminal and sends it to a subsequent node, the signal from the previous node includes data string length data indicating the string length of input data included in the signal. , each node calculates the data contained in the signal from the node based on the sum of the data string length indicated by the data string length data and the data string length of the signal from the terminal connected to the node to be added. a detection means for detecting the end; and a data string obtained by adding the data string length data included in the signal from the previous stage to the data string length indicated by the data string length data and the data string length of the data added at the own node. and data string length data converting means for converting data into data string length data corresponding to the length of the data string and sending the converted data string length data to a subsequent node.

In addition, in this invention, a plurality of nodes are connected in series, and one or more terminals are connected to each node, and each node transmits output data to each terminal included in a signal from a previous node to its own node. In a serial control device that extracts a signal to a connected terminal and sends it to a subsequent node, the signal from the preceding node includes data string length data indicating the string length of output data included in the signal; Each node detects the end of the data included in the signal from the node based on the difference between the data string length indicated by the data string length data and the data string length of the signal to the terminal connected to the node to be extracted. and a detection means for detecting data string length data included in the signal from the previous stage, which corresponds to a data string length obtained by subtracting the data string length of the data extracted by the own node from the data string length indicated by the data string length data. and a data string length data conversion means for converting the converted data string length data into data string length data and sending the converted data string length data to a subsequent node.

Further, according to the present invention, a plurality of nodes are connected in series, and one or more terminals are connected to each node, and each node connects its own node to the input/output data included in the signal from the previous node. In a serial control device that adds a signal from a terminal connected to its own node and extracts a signal sent to a terminal connected to its own node and sends it to a subsequent node,
The signal from the preceding node includes data string length data indicating the string length of input/output data included in the signal, and each node adds data to its own node to the data string length indicated by the data string length data. a detection means for detecting the end of data included in a signal from a previous node based on a data string length i obtained by adding a data string length extracted from the own node and subtracting a data string length extracted from the own node; The data string length data included in the data string length data is obtained by adding the data string length of the data added at the own node to the data string length indicated by the data string length data, and subtracting the data string length extracted at the own node. The data string length data conversion means converts data into data string length data corresponding to the string length and sends the converted data string length data to a subsequent node.

[Effect]

The end of the data is detected based on the data string length of the data included in the signal from the previous node and the data string length of the data added at the own node or the data string length of the data extracted at the own node. The data string length data included in the signal from the previous node is changed to data string length data corresponding to the string length of the data output from its own node, and is sent out as being included in the signal sent to the subsequent node.

〔Example〕

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 shows an embodiment of a series control device according to the present invention. This embodiment is applied, for example, to a centralized control system for a press. In this case, the main controller 100 is provided in the controller section of the press, and the sensor groups 1-1 to 1-n correspond to sensors that detect the state of each part of the press.

Sensor group 1-1 is connected to node 10-1, sensor group 1-2 is connected to node 10-2, sensor group 1-3 is connected to node 10-3, and similarly sensor group 1-n
is connected to node 10-n. Also, node 10-1~
10-n are connected in series via the main controller 100.

The main controller 100 controls each node 10-1 to 10-
It outputs a signal for collecting signals output from the sensor groups 1-1 to 1-n connected to sensor group 1-n.

Sensor groups 1-1 to 1 connected to each node 10-1 to 10-n based on a signal from the main controller 100
The operation of collecting the -n output signals will be explained based on FIG.

The main controller 100 first outputs a signal SO having a frame structure as shown in FIG. 2(a).

In other words, with the start code at the beginning, this signal SO
The main controller 100 first sends out a signal SO having a data string length data (0) frame structure representing the data string length included in the data string length (here, the data string length is zero because no data is included yet). This main controller 10
Signal SO from 0 is applied to node 10-1.

The node 10-1 converts the signals input in parallel from the sensor group 1-1 immediately after the data string length data (0) of the signal SO into a serial signal in a predetermined order, and converts this into a serial signal as data (1).
), the data string length data (0) is converted to data string length data (1) representing the data string length Ll of the inserted data (1), and output as a signal St (Fig. 2 (b)). do.

At node 10-2, data string length data (1) of signal S1
The signal (data) output from sensor group 1-2 immediately after
2)), and insert the data string length data (1) into the data (
2) is converted into data string length data (2) corresponding to the changed data string length L2.

The signal S2 output from node 10-2 is output from node 10-
3 is input.

Similarly to the node 10-2, the node 10-3 also inserts the signal (data (3)) output from the sensor group 1-3 immediately after the data string length data (2) of the signal S2, and inserts the signal (data (3)) output from the sensor group 1-3. 2) is converted into data string length data (3) corresponding to the data string length L3 of the data changed by inserting data (3).

Similarly, data (n-1) is inserted into the signal output from node 1O-n-1 (not shown), that is, the input signal of node n, as shown in FIG. Signal Sn −1 as long data (n −1)
become.

In addition, at the node 10-n, data from the sensor group 1-n (
n) is added, and the data string length data (n-1) is converted to data string length data (n).

This signal Sn is input to the main controller 100.

The main controller 100 identifies which node the sensor group the data is connected to is based on the data arrangement order of the data area from the rear end of the data string length data (n) of the signal Sn to the front end of the stop code. . As a result, in the main controller 100, each node 1-1 to
This means that signals from the sensor groups 1-1 to 1-n connected to sensor 1-n have been collected.

In addition, in the above description, sensor groups 1-1 to 1-n
When collecting data from , the configuration was configured to insert new data immediately after the data string length data, that is, at the front end of the data area, but the configuration was configured to insert new data at the rear end of the data area. Good too.

FIG. 3 shows a detailed configuration example of the nodes 10-1 to 10-n shown in FIG. 1. Here, node 10-1~
10-n each have the same configuration, and in FIG. 3, node 10 represents nodes 10-1 to 10-n.

Moreover, sensor group 1 is sensor group 1-1 to 1 shown in FIG.
-n, and the actuator group 2 corresponds to any of the actuator groups 2-1 to 2-n shown in FIG. In this embodiment, data transmission between each node 10 is performed using CMI (Coded Mark I n
version) code. This is to minimize transmission errors due to noise during the transmission process, and to enable regeneration (extraction) of the clock signal at each node. In this case, it is not necessary to provide each node with a clock oscillator, and the configuration of each node can be further simplified.

In FIG. 3, a receiving circuit 11 receives a received signal from a previous node. Here, since the signal from the previous node is modulated by the CMI code as described above,
The receiving circuit 11 converts this CMI code into a normal “1” or “0”.
NRZ (Non Return Zero)
) code. In addition, the receiving circuit 11
A clock signal synchronized with the transmission data used in this node 10 is regenerated from the code-modulated input signal.

The input signal demodulated by the receiving circuit 11 is sent to the data string length data conversion circuit 14, the n-bit shift circuit 15, and the switch S.
It is added to the contact C of W3, and the switch SW1,
It is applied to the start code detection circuit 12 and the data string length counter 13 via SW2, respectively.

Here, the start code detection circuit 12 detects a start code included in the input signal. For example, an 8-bit digital code signal consisting of a predetermined pattern is used as the start code.

The start code detection output from the start code detection circuit 12 is applied to the control circuit 18.

The data string length counter 15 counts the data string length of data included in the input signal. The data string length is counted by counting clock signals synchronized with each bit of input data output from the receiving circuit 11. A detailed configuration example of this data string length counter 13 is shown in FIG.

In FIG. 4, the data string length counter 13 includes three counters, namely, a first counter 131, a second counter 132, and a third counter 133. The first counter 131 starts counting when the switch SW2 is turned on.

That is, when a signal for turning on the switch SW2 is applied from the control circuit 18, the flip-flop FF1 is set to this signal. This allows AND circuit ANI
becomes operational, and a clock signal synchronized with each bit of input data output from the receiving circuit 11 is applied to the first counter 131 via the AND circuit ANI.

The first counter 131 thereby starts the counting operation of counting the clock signals described above. This first counter 1
31 is the data string length g of the data string length data.
When the value corresponding to (bit) is reached, a data string length data read completion signal is output. Note that the flip-flop FFI is reset by a signal obtained by inverting a signal applied from the control circuit 18 for turning on the switch SW2 by an inverter IN2.

When the data string length data read completion signal is output from the first counter 131, the AND circuit AN2 becomes operational.
The clock signal from the receiving circuit 11 is sent to this AND circuit A.
is added to the second counter 132 via N2. This causes the second counter 132 to start its counting operation.

Also, a switch S is connected to the preset terminal of the third counter.
Data string length data is input from the previous node via W2, and this data string length data is input in synchronization with the timing when the data string length data reading completion signal is generated from the first counter 131. finish. That is,
At the timing when the data string length data read completion signal is output from the first counter 131, presetting of the data string length indicated by the data string length data to the third counter 133 is completed. This third counter 133 is composed of a preset type down counter.

The second counter 132 has a count value of this node 10.
When the data from the sensor group 1 to be added, that is, the data length n of the data generated by the additional data generation circuit 16, is reached, a data addition end signal is output. This data addition end signal is applied to the AND circuit AN2 via the inverter IN1. As a result, the AND circuit AN2 becomes inactive and the counting operation of the second counter ends.

Further, the data addition end signal output from the second counter 132 is applied to the AND circuit AN3.
Enable 3. As a result, the clock signal from the receiving circuit 11 passes through the AND circuit AN3 to the third
is added to the counter 133. Third counter 133
This starts the down counting operation. The third counter 133 counts down from the price, and the counted value is "
0'', a data area end signal is generated.

The above-mentioned data string length read completion signal, data addition end signal, and data area end signal output from the data string length counter 13 are applied to the control circuit 18.

The data string length data conversion circuit 14 converts the data string length data from the previous node included in the input signal to this node 14.
This is to convert the data into data string length data corresponding to the data string length of the data generated in .

For example, as shown in FIG. 5(a), the data string length of the data included in the input signal input from the previous node is L bits, and the data is output to the subsequent node as shown in FIG. 5(j). The data string length of the data included in the output signal is L'
(=n+L) bits, data string length data indicating L bits is converted to data string length data indicating L' bits.

The output of this data string length data conversion circuit 14 is the switch S
It is added to contact E of W3.

Further, the n-bit shift circuit 15 shifts (delays) the input signal by n bits and outputs the resultant signal.

This n-bit shift circuit 15 can be composed of, for example, a shift register with n-bit serial input and serial output. The output of this n-bit shift circuit 15 is applied to the contact of switch SW3.

Signals (parallel signals) from each sensor of the sensor group 1 are converted into serial signals based on a predetermined order in the additional data generation circuit 16, and additional data to be added is generated at this node. This additional data is the contact B of switch SW3.
added to.

The switch SW3 outputs the output of the additional data generation circuit 16 applied to the contact B, the output of the receiving circuit 11 applied to the contact C, the output of the n-bit shift circuit 15 applied to the contact C,
This selects one of the outputs of the data string length data conversion circuit 14 applied to the contact E. This switch SW
The output of No. 3, that is, the signal of contact A is applied to the transmitting circuit 17. The transmitting circuit 17 performs a predetermined modulation process to convert the applied signal into a CMI code, and outputs this modulated signal to the next stage node.

The control circuit 18 operates switches SW1 and S based on the start code detection output from the start code detection circuit 12, the data string length data read completion signal from the data string length counter 13, the data addition end signal, and the data area end signal.
Controls the switching timing of W2 and SW3.

Next, the operation of this embodiment will be explained based on the timing chart shown in FIG. First, switch SWI, S
As is clear from FIG. 5, W2 and SW3 are in the state shown in FIG. 3. That is, switch SW1 is on (Fig. 5 (g)), switch SW2 is off (Fig. 5 (h)), and switch SW3 is connected to contact A and contact C.
are in the connected state (A-C). In this state, when an input signal as shown in FIG. and is output to the next node (FIG. 5(j)).

Further, the start code of the input signal received by the receiving circuit 11 is applied to the start code detection circuit 12 via the switch SW1 which is on, and is detected by the start code detection circuit 12. As a result, a start code detection output is generated from the start code detection circuit 12 (FIG. 5(b)). By this start code detection output, the switch SW1 is switched from on to off, and the switch SW2 is switched from off to on. When the switch SWI is turned off, the start code detection circuit 12 becomes inoperable. This prevents the start code detection circuit 12 from erroneously detecting even if the same code classification as the start code occurs in subsequent data.

Furthermore, when the switch SW2 is turned on, the counting operation of the first counter of the data string length counter is started (see FIG.
C)).

In addition, the control circuit 18 changes the switch SW3 from the state (A-C) to the state where the contact A is connected to the contact E (A-
Switch to E). The output of the data string length data conversion circuit 14 is applied to the contact E as described above. Here, the data string length data conversion circuit 14 converts the input data string length data (L) representing the L-bit data string length output from the previous node into the data string length (n) of the data to be added at this node. ) is converted into data string length data (L+n) of data string length (L10) bits and output. Therefore, following the start code, data string length data (L+n) representing the data string length of the data output from this node converted by the data string length data conversion circuit 14 appears at the contact A of the switch SW3. This data string length data (L1n) is output from the transmitting circuit 17 following the start code (FIG. 5(j)).

When the count value of the first counter 131 of the data string length counter 13 reaches (N), the second count value of the data string length counter 13
The counting operation of the counter 132 is started (FIG. 5(d)
)).

Also, at this time, the presetting operation of the data string length data (L) to the third counter 133 of the data string length counter 13 is completed, and the data string length data is read from the data string length counter 13 (from the first counter 131). A completion signal is output. By outputting this data string length data read completion signal, the control circuit 18 turns off the switch SW2 as shown in FIG.
)), switch SW3 is switched from the state (A-E) to the state (A-B) in which contact A is connected to contact B (Fig. 5 (
j)).

Additional data from the sensor group 1 output from the additional data generation circuit 16 is applied to the contact B of the switch SW3 as described above. Therefore, the additional data from the additional data generation circuit 16 appears at contact A of the switch SW3 following the data string length data (L+n) outputted from the data string length data conversion circuit 14. This additional data is output from the transmitting circuit 17 following the data string length data (L+n) (FIG. 5(j)).

When the count value of the second counter 132 of the data string length counter 13 reaches (n), the third counter 133 starts counting down (FIG. 5(e)), and the data string length counter 13 starts counting down. A data addition end signal is output (from the second counter 132). In response to this data addition end signal, the control circuit 18 sets the switch SW3 to the state (A-B
) to the state (A-D) in which the contact A is connected to the contact (FIG. 5(j)). As mentioned above, the output of the n-bit shift circuit 15 (FIG. 5(r)), which delays the output of the receiving circuit 11 by n bits, is applied to the contact, and at this time, the output of the n-bit shift circuit 15, which is the output of the receiving circuit 11 delayed by n bits, is applied to the contact. A signal in the data area of input data is added.

Therefore, the contact A of the switch SW3 receives the additional data outputted from the additional data generation circuit 16 and added at this node 10, followed by the output of the n-bit shift circuit 14, that is, the data in the data area input from the previous node (
old data) will appear.

As a result, the old data sent from the previous node is outputted from the transmitting circuit 17 following the additional data added at this node (FIG. 5(j)).

When the count value of the third counter 133 of the data string length counter 13 becomes (0), the count value of the third counter 133 of the data string length counter 13 becomes (3rd
A data string length end signal (from the counter 133) is output. This data string length end signal causes the control circuit 18 switch SW1 to return to ON (FIG. 5(g)), and the switch SW3 to return to its initial state (A-C) (FIG. 5(i)).

In the embodiment described above, when the start code is detected by the start code detection circuit 12, the switch SW1 is turned off until the end of the data area, and the start code detection circuit 12 is made inactive during this period. Even if a code string with the same structure as the code occurs, it is configured so that it will not be mistakenly detected as a start code. It may be configured such that the same code arrangement as the stop code does not occur in the area. For example, the additional data generation circuit 16 converts data "1" to "10" and data "0" to "01". According to this, "1" is 3 in the data in the data area.
It never lasts more than one. Therefore, change the start code to “1”.
If the pattern is set to include a part in which three or more ``'s continue,'' data in the data area will not be mistakenly detected as a start code or stop code, and start codes and stop codes can be reliably detected. In this case, data "0" is "0", data "1" is "10" or data "0" is "00", data "1" is "10" or data "0" is "00", data "1" is ” can be changed to “01” or the like, and the same configuration can be achieved.

Further, the additional data generation circuit 16 may be configured to automatically insert "0" every time a predetermined number of converted data, for example, five consecutive data, are generated.

In this case, the data will not have six or more consecutive 1's, so if you set a pattern that includes six or more consecutive start and stop codes, you can ensure that the data can be distinguished from the start code and stop code. It can be carried out. With this configuration, the switch SW1 may not be provided.

Further, in the above embodiment, a plurality of nodes 10-1 to 10-n
Although these are connected in a closed loop through the main controller 100, the same configuration can be achieved by connecting them in an open loop. Further, each of the sensor groups 1-1 to 1-n may be composed of one sensor.

FIG. 6 shows another embodiment in which an actuator group 2-1 is connected to each node 10-1 to 10-n. In this embodiment, the main controller 100
sequentially sends drive data to actuator groups 2-1 to 2-n connected to each node 10-1 to 10-n.

The main controller 100 first outputs a signal SO as shown in FIG. 7(a). This signal SO starts with the start code, data string length data (0), and node 10-1.
Data for actuator group 2-1 connected to (
1), actuator group 2 connected to node 10-2
-2 data (2), ...1O-n-1 connected actuator group 2-n data (n-1
), actuator group 2- connected to node 10-n
It has a frame configuration with a data area consisting of data (n) for n. This signal is applied to node 10-1.

At the node 10-1, data (1
), converts it into a parallel signal, and outputs it to each actuator of the actuator group 2-1. Also,
At node 10-1, data string length data (0) is converted to data string length data (1) corresponding to string length data g1 of the remaining data after extracting data (1). The signal St is output from the node 10-1 as a signal St (FIG. 7(b)).

The node 10-2 extracts data for the actuator group 2-2 at the front end of the data area of the signal S1. Furthermore, the data string length data (1) is converted into data string length data (2) corresponding to the extracted remaining data string length g2. Thereafter, similarly, the data at the front end of the data area is extracted sequentially at each node (Fig. 7(c) to Fig. 7(5)).
), the signal Sn (seventh
Figure (f)) is added to the main controller 100.

FIG. 8 shows nodes 10-1 to 10 of the embodiment shown in FIG.
-n shows a detailed configuration example.

In FIG. 8, the nodes 10-1 to 10-n are represented by a node 10. Each node 10-1 to 10
-n has the same configuration. Further, in FIG. 8, the same reference numerals are used for parts having the same functions as those shown in FIG. 3 for convenience of explanation.

In FIG. 8, the signal from the previous node is transmitted to the receiving circuit 1.
1 is received. This receiving circuit 11 includes, for example, a CMI code demodulation circuit and a bit synchronized clock signal generation circuit, and is similar to the receiving circuit 11 shown in FIG. The signal received by the receiving circuit 11 is applied to the contact B of the switch SW3 via the switch SW4, and is also applied to the m-bit shift circuit 20. This m-bit shift circuit 20 delays the output from the receiving circuit 15 by m bits, and is similar to the n-bit shift circuit 15 shown in FIG. The output of the m-bit shift circuit 20 is applied to the contact C of the switch SW3, and the output of the m-bit shift circuit 20 is applied to the contact C of the switch SW3.
, and the start code detection circuit 12 via SW2, respectively.
, is added to the data string length counter 13. The start code detection circuit 12 detects the start code included in the output of the m-bit shift circuit 20, and has the same configuration as the start code detection circuit 12 shown in FIG.

Furthermore, the data string length counter 13 is configured by an m-bit shift circuit 20.
This is used to count the data string length of the data output from the . Details of this data string length counter 13 are shown in FIG. In FIG. 9, the data string length counter 13 includes a first counter 131, a second counter 134, and a third counter 135. first counter 1
31 is similar to the first counter 131 shown in FIG. 4, and starts counting operation when the switch SW2 is turned on, and the counted value corresponds to the data length g bits of the data string length data. C1. ”), it ends the counting operation and outputs a data string length data read completion signal. Also, when the count value of the first counter 131 reaches CD>, the second counter 134 starts counting operation, and the count value When reaches a value (m) corresponding to the data string length (m) of the data to be extracted at this node, the counting operation is completed and a data extraction completion signal is output.Furthermore, this second counter 134 will be described in detail later. When the data area end signal is output from the third counter 135, the counted value is cleared and the counting operation starts again, and when the counted value reaches (m), the m-bit shift data data area end signal is outputted. .

Further, when the switch SW2 is turned on, the third counter 135 reads the data string length data from the previous stage node output from the m-bit shift circuit 20 and inputs the data string length data from the previous stage node to the first counter 1
When the count value of 31 becomes (fI), the value (L) obtained by subtracting the value (m) corresponding to the data string length of the data extracted at this node from the data string length (L) indicated by the read data string length data. -m) and starts a down count when the AND circuit AN4 becomes operable. When the count value reaches (1), a data area end signal is output.

Further, the output of the m-bit shift circuit 20 is applied to the data string length data conversion circuit 14. The data string length data conversion circuit 14 converts the data string length data included in the output of the m-bit shift circuit 20 into the data string length data corresponding to the data output from this node, that is, the input signal input from the previous node. The data string length data is converted into data string length data corresponding to the data string length (Lm) obtained by subtracting the data string length m of the data extracted at this node from the data string length indicated by the data string length data. The output of the data string length data conversion circuit 14 is applied to the contact of the switch SW3.

The switch SW3 is configured to switch and select the output of the receiving circuit 11, the output of the m-bit shift circuit 20, and the output of the data string length data conversion circuit 14, which are applied via the switch SW4. signal)
is sent to the transmitting circuit 17. The transmitting circuit 17 is similar to the transmitting circuit 17 shown in FIG. 3, and performs predetermined modulation on the signal from the switch SW3 and sends the modulated signal as an output signal to a subsequent node.

The control circuit 18 includes a start code detection output outputted from the start code detection circuit 12 and a data string length data read completion signal outputted from the data string length counter 13.
Input the data extraction end signal (m-bit shift data data area end signal) and the data area end signal and switch S.
Controls switching of WI, SW2, SW3, and SW4.

Next, the operation of the node 10 of this embodiment will be explained with reference to the timing chart shown in FIG. First, before the input signal (FIG. 10(a)) is received, the 8th
Each switch SW1, SW2, SW3, SW4 shown in the figure,
SW5 is switched as shown. That is, switch SW1 is on (Figure 10 (g)), switch SW2 is off (Figure 10 (h)), switch SW3 is in a state where contact A and contact C are connected (A-C), and switch SW4 is on. (FIG. 10(j)), and the switch SW5 is turned off (FIG. 10(k)).

When the receiving circuit 11 receives an input signal (FIG. 10(a)), this signal is delayed by m bits in the m-bit shift circuit 20 (FIG. 10(b)), and is applied to the contact C of the switch SW3. Therefore, the start code first appears at the contact A of the switch SW3, and this start code is output from the transmitting circuit 17.

Further, when a start code is output from the m-bit shift circuit 20, it is detected by the start code detection circuit 12, and a start code detection output (FIG. 10(C)) is generated from the start code detection circuit 12. Based on this start code detection output, the control circuit 18 switches the switch SWI from on to off (FIG. 10(g)), and switches the switch SW
2 from off to on. When the switch SW2 is turned on, the first counter 131 of the data string length counter 13
starts counting operation (Fig. 10(d)).

Further, in response to the start code detection output, the control circuit 18 switches the switch SW3 from the state (A-C) to the state where the contact A is connected to the contact point (A-D).

As a result, the contact A of the switch SW3 is connected to the output of the data string length data conversion circuit 14, that is, the data string length data (L
-m) appears. This data string length data (L-m) is output from the transmitting circuit 17 following the start code (
Figure 10 (II)).

When the count value of the first counter 131 of the data string length counter 13 reaches (g) and the data string length data reading completion signal is output from the data string length counter 13, the second counter of the data string length counter 13 134 and the third counter 135 start counting operations (FIGS. 10(d) and 10(e)).

Further, in response to the data string length data read completion signal output from the data string length counter 13, the control circuit 18 turns on the switch SW5 (FIG. 10(k)). By turning on the switch SW5, data to be output to the actuator group 2 is selected from among the data output from the m-bit shift circuit 20, and is sent to the rack circuit 19. This data is latched by the latch circuit 19, converted into a parallel signal, and output to the actuator group 2.

In addition, the control circuit 1 receives the data string length data read completion signal.
8 switches the switch SW3 from the state (A-D) to the state (A-B) in which contact A is connected to contact B. As a result, the output of the receiving circuit 11, that is, the data extracted from the data to be output to the actuator group 2 appears at the contact A of the switch SW3. This data is data string length data (L
-m) and then sent out from the transmitting circuit 17.

When the count value of the second counter 134 of the data string length counter 13 reaches (m), a data sampling end signal is output,
This signal turns off the switch SW5 (10th
Figure (k)).

Furthermore, a third counter of the data string length counter 13.

When the count value of 135 becomes (1), a data area end signal is generated, and this signal turns off the switch SW4 (FIG. 8(j)). This completes the transmission of data from the transmitting circuit 17.

Also, the third counter 135 of the data string length counter 13
When the count value becomes (1), the count value of the second counter 134 is cleared and the counting operation of the second counter 134 is started again ((0) in FIG. 10).

When the count value of the 20th counter 134 reaches (m), the switch SW1 is turned back on (FIG. 10(g)), and
The switch SW5 is also turned back on (FIG. 10(j)).

Further, at this time, the switch SW3 also returns to the initial state (A-C).

In addition, in the above embodiment, the actuator groups 2-1 to 2-2
-n is configured to sequentially extract data from the front end of the data area, but it may also be configured to sequentially extract data from the rear end of the data area. may be composed of one actuator.

FIG. 11 shows centimeter groups 1-1 to 1-n and actuator groups 2°-1 to 2 for each node 10-1 to 10-n.
This figure shows another embodiment in which -n are connected to each other. That is, in this embodiment, the senna group 1-1 and the actuator group 2-1 are connected to the node 10-1, and the senna group 1-2 and the actuator group 2-1 are connected to the node 10-2.
2 is connected to node 10-3, senna group 1-3 and actuator group 2-3 are connected to node 10-3, and similarly node 10-n
A centimeter group 1-n and an actuator group 2-n are connected to. Each node 10-1 to 10 in this configuration
An example of the configuration of -n is shown in FIG.

The node 10 shown in FIG. 12 basically has the configuration of the node 10 shown in FIG.
, is constructed by adding a latch circuit 19 and a control section for switches SW4 and SW5 to the control circuit 18.

In the configuration shown in FIG. 12, the data string length counter 13 includes five counters as shown in FIG. 13, namely, a first counter, a second counter, a third counter, a fourth counter, It is configured with a fifth counter. Here, the first counter performs a counting operation by detecting a start code included in the input signal output from the receiving circuit 11, and the counted value is a value ( 1), the counting operation ends and a data string length data reading completion signal is output, and when the count value of the first counter reaches the value CI), the second counter starts counting operation, and the count value is this node 10
When the value (n) corresponding to the data string length of the data to be added is reached, the counting operation is finished and a data addition end signal is output, and when the count value of the first counter reaches CI), the third counter , preset a value (L-n) corresponding to the value obtained by subtracting the data string length m of the data extracted at this node from the data string length indicated by the data string length data included in the input signal, then count down, and then When the count value reaches (1), a data sampling start signal is output, and the fourth counter starts counting when the count value of the third counter becomes small, and when the count value reaches (m), data sampling starts. An end signal is output, and the fifth counter is preset to a value (L-m) when the count value of the first counter reaches CI), and starts counting down when the count value of the second counter reaches (m). When the counted value reaches (0), a data area end signal is output.

In addition, in the configuration shown in FIG. 12, the data string length data conversion circuit 14 converts data string length data indicating the data string length included in the input signal from the receiving circuit 11 by a data string length n to be added at this node. The data string length m extracted at this node is converted into data string length data (L+n-m) indicating the data string length L+n-m obtained by subtracting the data string length m.

The node 10 shown in FIG. 12 receives an input signal in which a start code, data string length data, and data are sequentially arranged as shown in FIG. 14(a). At the same time, the data from the centimeter group 1 connected to the node 10 is added, and the output data to the actuator group 2 connected to the node 20 is extracted from this input signal, and the data string length data of the input signal is added from this node 10. It converts into data string length data corresponding to the data string length of the data area to be output and outputs it.

The operation of this node 10 is shown in the timing charts of FIGS. 14 and 15. Here, Fig. 14 shows a case where the data string length n of the data added at this node is larger than the data string length m of the data extracted at this node (n≧m), and Fig. 15 shows the case where the data string length n of the data added at this node is larger (n≧m), and Fig. 15 shows the case where the data string length n of the data added at this node is A case is shown in which the data string length n of data is smaller than the data string length m of data extracted at this node (n<m).

Input signal output from the receiving circuit 11 (Fig. 14(a)
) or the start code included in FIG. 15(a)) is first outputted to the subsequent node via the switch SW3 and the transmission circuit 17. Also, the start code included in this input signal is the switch SWI (first
4(1) or FIG. 15(1)) to the start code detection circuit 12, thereby causing the start code detection output (14th
(C) or FIG. 15(C)) is generated. From this start code detection output, the switch SW2 is switched from OFF to ON (FIG. 14(i) starts the counting operation of the first counter of the data string length counter 13 along with FIG. 15(1), Figure 14(d) or Figure 15(d)
)), and switch SWl from on to off (Fig. 14 (1) or Fig. 15 (1)), and switch SW3 with contact A connected to contact C (
A-C) to contact A connected to contact E (A-E
).

By switching the switch SW3 to the state (A-E), the output of the data string length data conversion circuit 14, that is, the data string length data (L+nm) converted at this node 10 appears at the contact A of the switch SW3. , this data string length data (L+n-m) is output from the transmitting circuit 17 following the above-mentioned start code (FIG. 14(n) or FIG. 15(m)).

The count value of the first counter of the data string length counter 13 is CI
>, the second counter of the data string length counter 13 (FIG. 14(e) or FIG. 15(e)) and the third counter (FIG. 14(f) or FIG. 15(r) )
), the fifth counter (Fig. 14 (h) or the 15th counter
The counting operation shown in Figure (h)) is started, the first count value of the data string length counter 13 reaches (1), and the data string length data reading completion signal is output from the data string length counter 13. Switch SW2 switches from on to off (Fig. 14 (i) or Fig. 15 (1))')
, and the switch SW3 is switched from the state (A-E) to the state (A-B) in which the contact A is connected to the contact B.

By switching the switch SW3 to the state (A-B), the additional data from the sensor group 1 output from the additional data generation circuit 16 appears at the contact A, and this additional data becomes the data string length data (L+ n − (n) of FIG. 14 or the first
Figure 5 (n)).

The count value of the second counter of the data string length counter 13 is (
n) and a data addition end signal is output from the data string length counter 13, this signal causes the switch SW3 to
is switched from the state (A-B) to the state (A-D) in which the contact A is connected to the contact. This allows switch S
Contact A of W3 has switch SW4 (first
1) or FIG. 15(1)), the output of the n-bit shift circuit 15 (FIG. 14(b) or FIG. 15(b)) appears through the contact of the switch SW3.

As a result, the transmission circuit 17 outputs the data in the data area that is output from the n-bit shift circuit 15 following the above-mentioned additional data.

Further, when the count value of the second counter of the data string length counter 13 reaches (n), the fifth counter changes to the value (L
-m) starts counting down from (Fig. 14(b)
) or Figure 15(b)).

When the count value of the third counter of the data string length counter 13 becomes small, the fourth counter starts counting operation (the fourteenth counter).
Figure (g) or Figure 15 (g)).

Furthermore, when the count value of the third counter of the data string length counter 13 becomes small and a data extraction start signal is output from the data string length counter 13, this signal turns on the switch SW5 (see FIG. 14). m) or FIG. 15(m)), the data to be output to the actuator group 2 included in the input signal input from the receiving circuit 11 at this time is latched by the latch circuit 19. The signal latched by this latch circuit 19 is output to the actuator group 2.

The count value of the third counter of the data string length counter 13 is (
m) and a data extraction end signal is output from the data string length counter 13, the switch SW5 is turned off (FIG. 14(m) or FIG. 15(m)).

In the case of nzm, the count value of the fifth counter of the data string length counter 13 becomes (0), and the data area end signal is output from the data string length counter 13, so that the switch SW1 is not turned on again. 14(i)), the switch SW3 returns to the initial state (A-C) (FIG. 14(k)).

In addition, when n<m, the count value of the fifth counter of the data string length counter 13 becomes (0), and the count value of the fifth counter of the data string length counter 13 becomes (0).
When the data area end signal is output from 3, the switch SW4 is switched from on to off (Fig. 15 (1)
). Further, when the count value of the fourth counter of the data string length counter 13 becomes (m), the switch SW1 returns to ON (FIG. 15(g)), and the switch SW3 is in the initial state (A-C ) (Fig. 15(k)
).

FIG. 16 shows another embodiment in which a signal having a frame structure as shown in FIG. 18(a) is employed as an input signal. In this case, the input signal has a frame configuration in which an input data start code, data string length data, input data, output data start code, and output data are sequentially arranged. That is, in this actual example, Fig. 18(a)
As shown in , two start codes, an input data start code and an output data start code, are used to create an input data area that is a data area to which data from sensor group 1 is added, and an output area that is a data area that extracts data to actuator group 2. It is constructed using a signal with a frame structure in which data and data are allocated to separate frames. Here, the data string length data inserted after the input data start code represents the data string length corresponding to the sum of the data string length L (i) bits of the input data and the data string length L (o) bits of the output data. There is.

The node configuration of this embodiment shown in FIG. 16 is shown in FIG. 13. In the configuration of the node 10 shown in FIG. An output data start code detection circuit b is provided on the output side of the shift circuit 15 via a switch 5W12, and an m bit shift circuit 20 and n are provided on the output side of the reception circuit 11.
A bit shift circuit 21 is provided, and an m bit shift circuit 20 is provided.
The output is sent to the switch SW3 via the n-bit shift circuit 15, the switch SW4, and the data string length conversion circuit 14, respectively.
contact point, ESF.

In addition, the output of the n-bit shift circuit 21 is transferred to the switch SW
In addition to the contact C of No. 3, the output of the n-bit circuit 15 is applied to the latch circuit 19 via the switch SW5.

Further, in the case of this embodiment, the data string length counter 13 includes a first counter, a second counter, a third counter, a fourth counter, and a fifth counter, as shown in FIG. The first counter starts counting operation when an input data start detection output is generated from the input data start code detection circuit 12a, and the counted value corresponds to the data length g of the data string length data (fl). When the count value of the first counter reaches (1), the counting operation ends and a data string length data reading completion signal is output. When the node reaches a value (n) corresponding to the data length n of the data added, the counting operation ends and a data addition end signal is output, and the third counter determines that the count value of the second counter is (n). When the value (L-m) between the data string length indicated by the data string length data and the data string length m extracted at this node is preset, a down count is started, and the counted value becomes (1). When this happens, a data area end signal is output, and the fourth counter starts counting when the output data start code detection output is generated from the output data start code detection circuit 12b, and the count value reaches the value m. When it reaches that point, a data sampling output signal is output.

Further, if the data string length n of the data added at this node is shorter than the data string length m extracted at this node, the fifth counter starts operating when the count value of the third counter becomes (1), When the count value reaches m-n, the counting operation is terminated and an m-bit shift signal data area end signal is output.

Further, the data string length data conversion circuit 14 is outputted from the m-bit shift circuit 20. Data indicating the data string length of the input signal input to this node, that is, the length of the data string from the input data to the output data of the input signal shown in FIG. 18(a) or FIG. 19(a) Row length data (L)
is converted into data string length data indicating the data string length of the output signal output from this node, that is, data string length data (L+n-m) corresponding to the data string length L+n-m, and output.

The operation of the node 10 shown in FIG. 16 is explained in FIG.
This will be explained in detail with reference to the timing chart shown in FIG. Here, FIG. 18 shows a case where the data string length n of the data added at this node is longer than the data string length m of the data extracted at this node (n≧m), and FIG. This shows a case where the data string length n of the data extracted at this node is shorter than the data string length m of the data extracted at this node (n<m).

The input signal received by the receiving circuit 11 (FIG. 18(a) or FIG. 19(a)) is delayed by m bits by the m-bit shift circuit 20 (FIG. 18(b) or FIG. 19(b)).
. Further, it is delayed by n bits by the n-bit shift circuit 21 (FIG. 18(C) or FIG. 19(C)). The input data start code included in the signal output from the m-bit shift circuit 20 is added to the contact E of the switch SW3 via the turned-on switch SW4 (FIG. 18(n) or FIG. 19(n)). It will be done. Here, switch SW3 is in the state (A-E) where contact A is connected to contact E (Figure 18 (m) or Figure 19 (m)), so switch SW4 is connected to contact A of switch SW3. The input data start code inputted through the input data start code appears first. This input data start code is output to the subsequent node via the transmitting circuit 17 (Fig. 18(p) or Fig. 19(p)).
p)).

The input data start code outputted from the m-bit shift circuit 20 is applied to the input data start code detection circuit 12a via the switch 5W11 (FIG. 18 (j) or FIG. 19 (j)) which is on, and this As a result, an input data start code detection output is generated from the input data start code detection circuit 12a (FIG. 18(e) or FIG. 19(e)). This input data start code detection output turns switch SW2 from off to on (
18(fI) or FIG. 19(g)), the first counter of the data string length counter 13 starts counting operation (
FIG. 18(f) or FIG. 19(f)). In addition, the switch 5WII is turned from on to off by the input data start code detection output from the input data start code detection circuit 12a, and the switch SW3 is in the state (A-E).
It is possible to switch from the state to the state (A-F) in which contact A is connected to contact F. As a result, the converted data string length data (L+n-m) output from the data string length data conversion circuit 14 appears at the contact A of the switch SW3. Therefore, the data string length data (L+n-m) is outputted from the transmitting circuit 17 following the input data start code described above (FIG. 18(p) or FIG. 19(p)).

The count value of the first counter of the data string length counter 13 is (
fI), the second counter starts counting (FIG. 18(g) or FIG. 19(g)). Also, the count value of the first counter of the data string length counter 13 is <1.
> and the data string length counter 13 outputs a data string length data read completion signal, this signal turns the switch SW2 from on to off (FIG. 18 (ff) or FIG. 19 (II)). , switch SW3 is in state (
Contact A is connected to contact B from A-F)=<A-B
).

When the switch SW3 is switched to state (A-B), additional data from the center group 1 outputted from the additional data generation circuit 16 appears at the contact A. Therefore, the transmitting circuit 17
Following the data string length data (L+n-m) described above, additional data from the additional data generation circuit 16 is output (FIG. 18(p) or FIG. 19(p)).

The count value of the second counter of the data string length counter 13 is (
n), the operation of the third counter is started (FIG. 18(b) or FIG. 19(b)). Further, when the count value of the second counter of the data string length counter 13 reaches (n) and a data addition end signal is generated from the data string length counter 13, this signal switches the switch SWI 2 from OFF to ON. (Figure 18 (k) or Figure 19 (
k)) The switch SW3 is switched from the state A-B to the state (A-D) in which the contact A is connected to the contact terminal.

When the switch SW3 switches to the state (A-D), the signal output from the n-bit shift circuit 15 (FIG. 18(d)
Alternatively, the input data included in FIG. 19(d)) appears at contact A of switch SW3.

Therefore, the input data output from the n-bit shift circuit 15 is output from the transmitting circuit 17 following the above-mentioned additional data (FIG. 18(p) or FIG. 19(p)).
.

The output data start code included in the signal output from the n-bit shift circuit 15 is detected by the output data start code detection circuit 12b, and the output data start code detection circuit 12b outputs the output data start code detection output (FIG. 18(e)). 19(e)) is generated, the fourth counter of the data string length counter 13 starts counting operation.
), turn off switch SWI 2 at the same time as shown in Figure 18 (
k) or FIG. 19(k)), and also change the switch SW3 from the state (A-D) to the state where contact A is connected to contact C (
A-C) (Fig. 18 (m) or Fig. 19 (m)
)) Furthermore, the switch SW5 is switched from off to on (FIG. 18(o) or FIG. 19(0)).

When the switch SW3 is switched to the state (A-C), output data obtained by extracting the data to be output to the actuator group 2 output from the n-bit shift circuit 21 appears at the contact A of the switch SW3, and this output data is n-bit. Following the output data start code outputted from the shift circuit 15, the data is outputted from the transmitting circuit 17 (Fig. 18(p)).
or Figure 19(p)).

Furthermore, when the switch SW5 is turned on, the data output from the n-bit shift circuit 15 to the actuator group 2 is latched by the latch circuit 19 via this switch SW5, and is output to the actuator group.

The count value of the fourth counter of the data string length counter 13 is (
m) and a data extraction end signal is output from the data string length counter 13, the switch SW5 is switched from on to off.

In addition, in the case of n≧m, when the count value of the third counter of the data string length counter 13 becomes (1), the switch SWI1
When the switch SW3 returns from off to on (FIG. 18(j)), the switch SW3 returns to its initial state (AE).

However, in the case of n<m, when the count value of the third counter of the data string length counter 13 reaches (1), the counting operation of the fifth counter is started (FIG. 19(g)), and at the same time, the switch SW3 is returned to its initial state (A-E), and the switch SW4 is further turned from on to off (FIG. 19(n)).

Then, the count value of the fifth counter of the data string length counter 13 reaches (m-n), and the count value of the fifth counter of the data string length counter 13 reaches m
When the bit shift signal data area end is output, this signal returns the switch SWI1 to on, and switches the switch SW4 from off to on.

FIG. 20 shows an example of the configuration of the node 10 when an input signal having a frame structure as shown in FIG. 23(a) is used. In this case, it is configured by introducing two data string length data: input data string length data corresponding to the data string length of input data and output data string length data corresponding to the data string length of output data.

In the configuration shown in FIG. 20, an input data string length counter 13a and an output data string length counter 13b are provided in place of the data string length counter 13 shown in FIG. Instead, it is constructed by providing an input data data string length data conversion circuit 14a and an output data data string length data conversion circuit 14b.

Here, the input data data string length counter 13a is the 21st
As shown in the figure, the first counter, the second counter, and the third counter
The first counter starts a counting operation upon detection of the input data start code output from the m-bit shift circuit 20, and the counted value is a value corresponding to the data length gi of the input data string length data. N! When reaching i), the counting operation is completed and an input data data string length data read completion signal is output. The second counter starts counting when the count value of the first counter reaches ((Ni), and the count value becomes the value (n) corresponding to the data string length n of the additional data added at this node. When the count value of the first counter reaches (Ri), the counting operation is finished and a data addition end signal is output.When the count value of the first counter reaches (Ri), the third counter corresponds to the data string length Li indicated by the input data data string length data. It is preset with the value (Li), and the count value of the second counter is (
When the count value reaches (n), a down-count operation is started, and when the count value reaches (0), an input data data area end signal is output.

Further, the output data data string length counter 13b includes a fourth counter, a fifth counter, a sixth counter, and a seventh counter. The counting operation is started by the detection, and when the counted value reaches the value (,9o) corresponding to the data string length Do of the output data data string length data, the counting operation is finished and an output data data string length data reading completion signal is sent. Output. The fifth counter starts counting operation when the count value of the fourth counter reaches (1o), and when the count value reaches the value (m) corresponding to the data string length m of the data to be extracted at this node. Finishes the counting operation and outputs a data sampling end signal. When the count value of the fourth counter reaches (fIo), the sixth counter outputs a value Lo-m obtained by subtracting the data string length m of the data extracted at this node from the data string length Lo represented by the output data data string length data.
A value (L o -m) corresponding to is preset and then down-counted, and when this count value becomes (1), an output data data area end signal is output. The seventh counter operates when the count value of the sixth counter becomes (1) when the data string length n of the data added at this node 10 is shorter than the data string length m of the data extracted at this node 10. When this count value reaches (m-n), the counting operation is finished and an m-bit shift signal data area end signal is output.

In addition, the input data data string length data conversion circuit 14a is m
Input data data string length data (L i) indicating the data string length Li of input data included in the input signal output from the bit shift circuit 20 is input, and is added to the data string length Li of this input data at this node 10. Data string length data (Li+n) corresponding to the data string length Li+n obtained by adding the data string length n of the data to be processed is output.

Further, the output data string length data conversion circuit 14b inputs output data string length data (L o) indicating the data string length LO of the output data included in the input signal output from the n-bit shift circuit 15, and outputs this data. Data string length data (Lo-m) corresponding to the data string length Lo-m obtained by subtracting the data string length m of the data extracted by this node 10 from the data string length Lo of the data is output.

The operation of the node 1o shown in FIG. 20 is illustrated in FIGS.
This will be explained in detail with reference to the timing chart shown in FIG. Here, FIG. 23 shows the case where the data string length n of the data added at this node is longer than the data string length m of the data extracted at this node (n≧m), and FIG. This shows a case where the data string length n of the data extracted at this node is shorter than the data string length m of the data extracted at this node (n<m).

The input signal received by the receiving circuit 11 (FIG. 23(a) or FIG. 24(a)) is delayed by m bits by the m-bit shift circuit 20 (FIG. 23(b) or FIG. 24(b)).
. Further, it is delayed by n bits by the n-bit shift circuit 21 (FIG. 23(c) or FIG. 24(C)). The input data start code included in the signal output from the m-bit shift circuit 20 is added to the contact E of the switch SW3 via the turned-on switch SW4 (FIG. 23(n) or FIG. 24(n)). It will be done. Here, since the switch SW3 is in the state (A-F) where the contact A is connected to the contact F (Fig. 23 (m) or Fig. 24 (m)), the contact A of the switch SW3 is connected to the switch The input data start code input via SW4 appears first. This input data start code is output to the subsequent node via the transmitting circuit 17 (Fig. 23 (p) or 24
Figure (p)).

The input data start code outputted from the m-bit shift circuit 20 is applied to the input data start code detection circuit 12a via the switch 5W11 (FIG. 23 (j) or FIG. 24 (j)) which is on, and this As a result, the input data start code detection circuit 12a generates an input data start code detection output (FIG. 23(e) or FIG. 24(e)). This input data start code detection output turns switch SW2 from off to on (
In FIG. 23(k) or FIG. 24(k)), the first counter of the input data data string length counter 13a starts counting operation (FIG. 23(f) or FIG. 24(f)). In addition, the switch SWI1 is turned from on to off by the output of the input data start code output from the input data start code detection circuit 12a, and the switch SW3 changes from the state (A-F) to the state (A-F) where contact A is connected to contact G ( A-
G). As a result, the converted input data data string length data (
L+n) appears.

Therefore, the transmitting circuit 17 sends the input data string length data (L+
n) is output (Figure 23 (p) or Figure 24 (p)
)).

When the count value of the first counter of the input data data string length counter 13a reaches (fli), the counting operation of the second counter starts (FIG. 23 (g) or FIG. 24 (
g)) The value (LL) is preset in the third counter (FIG. 23(h) or FIG. 24(h)). Further, when the count value of the first counter of the input data data string length counter 13a reaches (11) and a data string length data reading completion signal is output from the input data data string length counter 13, this signal causes the switch to switch. SW21 turns from on to off (Fig. 23 (k) or Fig. 24 (k)), and switch SW3 changes from the state (A-G) to the state where contact A is connected to contact B (A-B). Change.

When the switch SW3 is switched to state (A-B), additional data from the center group 1 outputted from the additional data generation circuit 16 appears at the contact A. Therefore, the transmitting circuit 17
Following the data string length data (L+n) mentioned above,
Additional data from the additional data generation circuit 16 is output (FIG. 23(p) or FIG. 24(p)).

When the count value of the second counter of the input data string length counter 13a reaches (n), the operation of the third counter is started (FIG. 23(b) or FIG. 24(b)). Further, when the count value of the second counter of the input data data string length counter 13a reaches (n) and a data addition end signal is generated from the input data data string length counter 13a, this signal causes the switch SW3 to enter the state A--. The state changes from B to the state (A-D) in which the contact A is connected to the contact.

When the switch SW3 switches to the state (A-D), the signal output from the n-bit shift circuit 15 (FIG. 23(d)
Alternatively, the input data included in FIG. 24(d)) appears at contact A of switch SW3.

Therefore, the input data output from the n-bit shift circuit 15 is output from the transmitting circuit 17 following the above-mentioned additional data (FIG. 23(p) or FIG. 24(p)).
.

When the count value of the third counter of the input data data string length counter 13a becomes (0) and the input data data area end signal is output from the input data data string length counter 13a, this signal turns the switch 5W12 from off to on. (Figure 23 (j) or Figure 24 (j)).

The output data start code included in the signal output from the n-bit shift circuit 15 is detected by the output data start code detection circuit 12b, and the output data start code detection circuit 12b outputs the output data start code detection output (FIG. 23(e)). 24(e)), the fourth counter of the output data data string length counter 13b starts counting operation (FIG. 23(f) or FIG. 24(f)), and the switch 5W22 from off to on (Fig. 23 (g) or Fig. 24 (I)). Or, at the same time, turn off the switch SWI2 (FIG. 18(k) or FIG. 19(k)), and switch SW3 from the state (A-D) so that the contact A is connected to the contact F!
(A-F) (FIG. 23(m) or FIG. 24(m)). As a result, the converted output data data string length data (L〇-m) output from the output data data string length data conversion circuit 14b is supplied to the contact A of the switch SW3.
appears. Therefore, the transmitting circuit 17 outputs the output data string length data (Lo-
m) is output.

When the count value of the fourth counter of the output data data string length counter 13b reaches (,9o), the counting operation of the fifth counter is started (FIG. 23(g) or FIG. 24(g)).
), further, the down-counting operation of the sixth counter is started (FIG. 23(b) or FIG. 24(b)).

Further, when the count value of the fourth counter of the output data data string length counter 13b reaches (No) and an output data data string length reading completion signal is output from the output data data string length counter 13b, this signal causes the switch to switch. SW3 changes from the state (A-F) to the state where contact A is connected to contact C (A-
Switch to C) (Figure 23 (m) or Figure 24 (m))
, and further switches the switch SW5 from off to on (FIG. 23(o) or FIG. 24(0)).

When the switch SW3 is switched to the state (A-C), output data obtained by extracting the data output from the n-bit shift circuit 21 to the actuator group 2 appears at the contact A of the switch SW3, and this output data is as described above. The output data is output from the transmitting circuit 17 following the data string length data (Lo-m) (FIG. 23(p) or FIG. 24(p)).

Furthermore, when the switch SW5 is turned on, the data output from the n-bit shift circuit 15 to the actuator group 2 is latched by the latch circuit 19 via this switch SW5, and is output to the actuator group.

When the count value of the fourth counter of the output data data string length counter 13b reaches (m) and a data sampling end signal is output from the output data data string length counter 13b, the switch SW5 is switched from on to off.

Note that when n≧m, the sixth
When the count value of the counter becomes (1), switch 5W11
When the switch SW3 returns from off to on (Fig. 23(i)), the switch SW3 is in its initial state! ! ! Return to (A-F).

However, in the case of n<m, when the count value of the sixth counter of the output data string length counter 13b reaches (1), the counting operation of the fifth counter is started (FIG. 24(g)).
, At the same time, the switch SW3 is in the initial state (A-
F), and then switch SW4 from on to off (FIG. 24(n)). Then, the count value of the seventh counter of the output data data string length counter 13b is (m
-n) and the data string length counter 13 outputs an m-bit shift signal data area end, this signal returns the switch SWI1 to ON, and the switch SW4
Switch from off to on.

Note that in the embodiment described above, a plurality of nodes 10-1
10-n are connected in a closed loop via the main controller, but multiple nodes 10-1 to 10-n are connected in a closed loop through the main controller.
-n including the main controller can be connected in an open loop to form a similar configuration.

〔Effect of the invention〕

As explained above, according to the present invention, since the structure is configured without using any stop codes, time loss in signal processing related to stop codes can be eliminated, and simultaneity at each node can be ensured.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing the overall configuration of an embodiment of a series control device according to the present invention, FIG. 2 is a timing chart showing an example of its operation, and FIG. 3 is a block diagram showing an embodiment of this series control device. Block diagram showing an example of the configuration of a node, No. 4
FIG. 5 is a circuit diagram showing an example of the configuration of the data string length counter of this embodiment, FIG. 5 is a timing chart explaining the operation of the node shown in FIG. 3, and FIG. A block diagram showing the overall configuration, FIG. 7 is a timing chart showing an example of the operation of this embodiment, FIG. 8 is a block diagram showing an example of the configuration of nodes related to this embodiment, and FIG. 9 is data of this embodiment. FIG. 10 is a timing chart illustrating the operation of the node shown in FIG. 8; FIG. 11 is a block diagram showing the overall configuration of another embodiment of the present invention; FIG. 12 is a block diagram showing an example of the configuration of a node according to another embodiment, FIG. 13 is a block diagram showing an example of the configuration of the data string length counter of this embodiment, and FIGS. FIG. 12 is a timing chart explaining the operation of the node shown in FIG. 12, FIG. 16 is a block diagram showing a configuration example of a node according to another embodiment, and FIG. 17 is a configuration example of the data string length counter of this embodiment. 18 and 19 are timing charts explaining the operation of the node shown in FIG. 16, and FIG. 20 is a block diagram showing an example of the configuration of a node according to another embodiment. 22 is a block diagram showing an example of the structure of the input data string length counter of this embodiment, FIG. 22 is a block diagram showing an example of the structure of the output data string length counter of this embodiment, FIGS. The figure is a timing chart illustrating the operation of the node shown in Figure 20. 1.1-1 to 1-n...sensor group, 2.2-1 to 2-
n...actuator group, 10.10-1 to 10-n
...Node, 100... Main controller.

Claims (1)

[Claims] (1) A plurality of nodes are connected in series, and one or more terminals are connected to each node, and each node receives input data from each terminal included in a signal from a previous node. In a serial control device that adds a signal from a terminal connected to its own node and sends it to a subsequent node, the signal from the previous node has a data string length indicating the string length of input data included in the signal. each node includes data in a signal from the node based on the sum of the data string length indicated by the data string length data and the data string length of the signal from the terminal connected to the own node to be added. detecting means for detecting the end of the data that is added to the data string length data included in the signal from the previous stage, and adding the data string length of the data added at the node to the data string length indicated by the data string length data; A serial control device comprising a data string length data conversion means for converting the converted data string length data into data string length data corresponding to the data string length and sending the converted data string length data to a subsequent node. (2) The string length control device according to claim (1), wherein the signal from the previous node includes a serial signal in which a start code, data string length data, and output data are sequentially arranged. (3) The detection means starts the counting operation by detecting the start code, and ends the counting operation by counting the column length of the data string length data.
a second counter that starts a counting operation when the counting operation of the first counter ends and ends the counting operation by counting the column length of data added at its own node; and the first counter. When the counting operation of the second counter ends, the data string length indicated by the data string length data is preset, and when the counting operation of the second counter ends, the down counting operation starts, and when the count value becomes "0", the end of the data is detected. 3. The series control device according to claim 2, further comprising a third counter that generates an output. (4) The signal from the previous node includes a data area,
2. The serial control device according to claim 1, wherein each node adds data from a terminal connected to its own node to the front end of the data area. (5) The signal from the previous node includes a data area,
2. The serial control device according to claim 1, wherein each node adds data from a terminal connected to its own node to the rear end of the data area. (6) The serial control device according to claim (2), further comprising means for inhibiting detection of a start code while data in the data area is being input from a preceding node. (7) The serial control device according to claim (2), wherein each data in the data area sent from the preceding node is encoded into a plurality of bits to facilitate identification from the start code. (8) Each data in the data area sent from the previous node has a "0" inserted every predetermined number of bits to facilitate identification with the start code.
2) The series control device described. (9) The series control device according to claim (1), wherein the plurality of nodes are connected in a closed loop including a main controller. (10) The series control device according to claim (1), wherein the plurality of nodes include a main controller and are connected in an open loop. (11) The serial control device according to claim (1), wherein the terminal comprises a sensor. (12) Connect multiple nodes in series, and connect one or more terminals to each node, and each node is connected to its own node from the output data to each terminal included in the signal from the previous node. In a serial control device that extracts a signal to a terminal and sends it to a subsequent node, the signal from the previous node includes data string length data indicating the string length of output data included in the signal, and each node , detection means for detecting the end of data included in the signal from the node based on the difference between the data string length indicated by the data string length data and the data string length of a signal to a terminal connected to the own node to be extracted; and a data string corresponding to the data string length obtained by subtracting the data string length of the data extracted at the own node from the data string length indicated by the data string length data, which is included in the signal from the previous stage. A serial control device comprising a data string length data conversion means for converting data into long data and sending the converted data string length data to a subsequent node. (13) The signal from the previous node is the start code,
13. The string length control device according to claim 12, comprising a serial signal in which data string length data and output data are sequentially arranged. (14) The detection means starts the counting operation by detecting the start code, and ends the counting operation by counting the column length of the data string length data.
a second counter that starts a counting operation when the counting operation of the first counter ends and ends the counting operation by counting the column length of the data extracted at its own node; Upon completion of the counting operation, the column length obtained by subtracting the column length of the data to be extracted from the data column length indicated by the data column length data is preset, and the down counting operation is started, and when the count value becomes "11", the data end is reached. 14. The series control device according to claim 13, further comprising a third counter that generates a detection output of . (15) The signal from the previous node includes a data area, and the front end of the data area includes data to the terminal connected to its own node, and each node transmits data to the terminal connected to its own node. 13. The serial control device according to claim 12, wherein data is extracted from the front end of the data area. (16) The signal from the previous node includes a data area and includes data to the terminal connected to its own node at the front end of the data area, and each node transmits data to the terminal connected to its own node. 13. The serial control device according to claim 12, wherein data is extracted from the rear end of the data area. (17) The serial control device according to claim (13), further comprising prohibition means for prohibiting detection of a start code while data in the data area is being input from the preceding node. (18) The serial control device according to claim (12), wherein each data in the data area sent from the preceding node is encoded into a plurality of bits to facilitate identification with the start code. (19) The serial control according to claim (12), wherein each data in the data area sent from the previous node is inserted with "0" every predetermined number of bits to facilitate identification with the start code. Device. (20) The series control device according to claim (12), wherein the plurality of nodes include a main controller and are connected in a closed loop. (21) The series control device according to claim (12), wherein the plurality of nodes include a main controller and are connected in an open loop. (22) Claim (12) in which the terminal comprises an actuator.
Series controller as described. (23) Connect multiple nodes in series, and connect one or more terminals to each node, and each node receives input/output data included in the signal from the previous node from the terminal connected to its own node. In a serial control device that adds a signal to a terminal connected to its own node and sends it to a subsequent node, the signal from the previous node is a string of input/output data contained in the signal. each node includes data string length data indicating the length of the data string, and each node adds the length of the data string added to its own node to the data string length indicated by the data string length data, and also determines the length of the data string extracted from its own node. detection means for detecting the end of data included in the signal from the previous stage node based on the data string length obtained by subtracting the data string length data; Add the data string length of the data added at the own node to , and subtract the data string length extracted at the own node to convert it into data string length data corresponding to the data string length, and calculate the converted data string length. A serial control device comprising: data string length data conversion means for sending data to a subsequent node; (24) The signal from the previous node is the start code,
24. The string length control device according to claim 23, further comprising a serial signal in which data string length data and input/output data are sequentially arranged. (25) The detection means starts the counting operation by detecting the start code, and ends the counting operation by counting the column length of the data string length data.
a second counter that starts a counting operation when the counting operation of the first counter ends and ends the counting operation by counting the column length of data added at its own node; and the first counter. Upon completion of the counting operation of the second counter, the column length obtained by subtracting the column length of the data to be extracted from the data column length indicated by the data column length data is preset, and upon completion of the counting operation of the second counter, a down counting operation is started, and the counted value is 25. The serial control device according to claim 24, further comprising a third counter that generates a data end detection output when the value becomes "0". (26) The signal from the previous node includes a data area, and the rear end of the data area includes data to the terminal connected to its own node, and each node receives signals from the terminal connected to its own node. 24. The serial control device according to claim 23, wherein data is added to the front end of the data area, and data for a terminal connected to its own node is deleted from the rear end of the data area. (27) The signal from the previous node includes a data area and includes data to the terminal connected to its own node at the front end of the data area, and each node transmits data to the terminal connected to its own node. 24. The serial control device according to claim 23, wherein data is deleted from the front end of the data area and data from a terminal connected to its own node is added to the rear end of the area. (28) The signal from the previous node includes a serial signal in which an input data start code, data string length data, input data, output data start code, and output data are arranged in sequence, and the data string length data includes the input data and the 24. The serial control device according to claim 23, wherein the data string length corresponds to the sum of the output data start code and the output data. (29) The detection means includes a first counter that starts a counting operation by detecting an input data start code and ends the counting operation by counting the column length of the data string length data, and a counting operation of the first counter. a second counter that starts a counting operation upon completion of the counting operation and ends the counting operation by counting the column length of the data added at its own node; The column length obtained by subtracting the column length of the data to be extracted from the column length is preset, and when the counting operation of the second counter ends, a down counting operation is started, and when the count value becomes "0", a data end detection output is output. 29. The serial control device according to claim 28, further comprising a third counter that generates . (30) The signal from the previous node includes a serial signal in which an input data start code, input data, output data start code, data string length data, and output data are arranged in sequence, and the data string length data is the output data. 24. The serial control device according to claim 23, which corresponds to a data string length. (31) The detection means includes a first counter that starts a counting operation upon detection of an output data start code and ends the counting operation upon counting the column length of the data string length data; a second counter that starts a counting operation upon completion of the counting operation and ends the counting operation by counting the column length of the data added at its own node; The column length obtained by subtracting the column length of the data to be extracted from the column length is preset, and when the counting operation of the second counter ends, a down counting operation is started, and when the count value becomes "0", a data end detection output is output. 31. The series control device according to claim 30, further comprising a third counter that generates . (32) The signal from the previous node includes a serial signal in which the input data start code, input data data string length data, input data, output data start code, output data data string length data, and output data are arranged in sequence, and 24. The serial control device according to claim 23, wherein the input data string length data corresponds to a data string length of input data, and the output data string length data corresponds to a data string length of output data. (33) The detection means includes a first counter that starts a counting operation by detecting an input data start code and ends the counting operation by counting a column length of input data data string length data, and counting by the first counter. a second counter that starts a counting operation when the operation ends and ends the counting operation by counting the string length of the input data added at its own node; The data string length indicated by the long data is preset,
A third counter that starts a down counting operation when the counting operation of the second counter ends and generates an output to detect the end of input data when the count value becomes "0"; and a third counter that starts counting by detecting an output data start code. a fourth counter that starts its operation and ends the counting operation by counting the column length of the input data data column length data; and a fourth counter that starts the counting operation when the counting operation of the fourth counter finishes, and extracts it at its own node. a fifth counter that completes the counting operation by counting the column length of the output data, and a column length of the input data to be extracted is subtracted from the data column length indicated by the data column length data by the completion of the counting operation of the fourth counter. 33. The serial device according to claim 32, further comprising a sixth counter having a preset column length, starting a down counting operation, and generating a detection output of the end of the output data when the counted value becomes "11". Control device. (34) The serial control device according to claim (24), further comprising prohibition means for prohibiting detection of a start code while data in the data area is being input from a preceding node. (35) The serial control device according to claim (23), wherein each data in the data area sent from the preceding node is encoded into a plurality of bits to facilitate identification with the start code. (36) The serial control according to claim (23), wherein each data in the data area sent from the previous node is inserted with "0" every predetermined number of bits to facilitate identification with the start code. Device. (36) The serial control according to claim (23), wherein each data in the data area sent from the previous node is inserted with "0" every predetermined number of bits to facilitate identification with the start code. Device. (37) The series control device according to claim (23), wherein the plurality of nodes include a main controller and are connected in a closed loop. (38) The series control device according to claim (23), wherein the plurality of nodes include a main controller and are connected in an open loop. (39) The series control device according to claim (23), wherein the terminal comprises a sensor and an actuator.