JPH02153649A - Terminal number detection device of serial controller - Google Patents

Abstract

PURPOSE:To accurately detect the number of terminals in a short time by jogging numeric data and fetching special codes through all the nodes and numeric data into a main controller when respective nodes receive the special codes and numeric data. CONSTITUTION:Plural nodes 10-1 to 10-n are connected in serial, and plural nodes are connected in a closed loop by including the main controller 100. A means transmitting the special codes and numeric data which follow the special codes is installed in the main controller 100, and jog means which jogs numeric data in accordance with the number of the connected terminals and means transmitting jogged numeric data to the node in a subsequent level by making it to follow the special codes are installed in the nodes. The main controller 100 detects the number of the terminals or the nodes based on numeric data following the special codes through plural nodes. Thus, the number of the nodes or the number of the terminals connected to the nodes can accurately be detected.

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. In particular, it relates to a series control device suitable for a serial control device, in which a plurality of nodes are connected in series, and the plurality of nodes are connected in a closed loop including a main controller, and each node is connected to one or more terminals. The present invention relates to a device for detecting the number of terminals in a serial control device that can easily detect the number of terminals or nodes in a control device.

[Conventional technology]

When centrally managing presses, machine tools, construction machinery, ships, aircraft, unmanned transportation equipment, unmanned warehouse PJs, 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. Become. For example, when considering a press, the number of sensors and actuators is 3.
000 or more, and some devices have even more.

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 with the main controller, and uses signals from the main controller to control the many actuators. 1-configured to control 1-evening;

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 the outputs of each sensor and the simultaneity of control of 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 assigning an address to each node even though they had a configuration in which nodes were connected in series, and identified each node by the order of its connection, thereby eliminating the need for address processing. Serial control 2! eliminates the time delay associated with address processing and greatly simplifies the node configuration. l equipment is provided.

According to this device, each node sequentially adds a signal from a sensor 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 node configuration is also very simple. .

By the way, in the case of adopting the above configuration, each node and the main controller 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). Therefore, in this case the main controller needs to know the number of nodes and the exact number of sensors and actuators connected to each node. Therefore, in the above device, the number of nodes, the number of sensors, and the number of actuators connected to each node are counted by an appropriate method, and the counted number of nodes, number of sensors, and number of actuators are controlled by the main control using a changeover switch, etc. The configuration was such that these numbers were taught to the main controller by inputting them into the O-U.

However, if the number of nodes, sensors, or actuators is changed, it is necessary to re-count these numbers and re-enter them into the main controller each time the change is made, which is a tedious task and reduces work efficiency. This resulted in a lot of wasted effort.

Furthermore, even if these numbers could be input, checking whether the numbers were correct required an enormous amount of effort, just as when inputting them. For example, even if an attempt was made to perform the above checks at the time of system start-up, it was not possible to do this in a short time.

[Problem to be solved by the invention]

In this way, in the above-mentioned device, it takes a lot of effort to input the number of nodes, the number of sensors, the number of actuators, etc. to the main controller, and after inputting the number of nodes, the number of sensors, the number of actuators, etc. Similarly, it required a great deal of effort to check whether or not it was correct.

Therefore, in this invention, the number of terminals such as the number of nodes, the number of sensors, the number of actuators, etc. can be easily and accurately detected in a short time, the number of nodes, the number of sensors, the number of actuators, etc. in the main controller can be easily set, and the number of terminals, such as the number of nodes, sensors, and actuators, can be easily set. It is an object of the present invention to provide a device for detecting the number of terminals of a serial control device that can be checked.

[Means to solve the problem]

In this invention, 111 nodes are connected in series, and the plurality of nodes are connected in a closed loop including the main controller, and each mate is connected to one or more terminals. The main controller is provided with a means for transmitting a special code and numerical data following the special code, and each node is provided with a means for transmitting a special code and numerical data following the special code according to the number of terminals connected to the node or by a predetermined unit value. Further, the main controller is provided with an incrementing means for incrementing the numerical data, and a means for transmitting the numerical data incremented by the incrementing means to the next stage node following the special code, and further, the main controller has the plurality of The present invention is characterized in that means is provided for detecting the number of terminals or the number of nodes based on numerical data following the special code that has passed through the nodes.

[Effect]

The main controller sends a special code and numerical data following this special code. When each node receives this special code and numerical data, it increments the numerical data by the number of terminals connected to the node or by a predetermined unit value. The special code and numerical data passed through all nodes are taken into the main controller, and the number of terminals or nodes is detected based on this numerical data.

〔Example〕

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

FIG. 2 shows the overall configuration of a serial control tIl device to which the terminal number detection device for a serial control I device of the present invention is applied. This series control device is applied, for example, to a centralized control system for a press. In this series-side apparatus a, the main controller 100 is disposed, for example, in the controller section of a press (not shown), and the sensor groups 1-1, 1-2. . . . 1-n corresponds to sensors (input terminals) disposed in each part of the press and detect the state of each part of the press, and actuator groups 2-1, 2-2, .・・・
・2-n corresponds to an actuator (output terminal) that controls each part of the press. In this configuration, the sensor group 1-1 and the actuator group 2-1 are connected to the node 10-
1, sensor group 1-2 and actuator group 2-
2 is connected to the node 10-2, the sensor group 1-3 and the actuator, the group 2-3 is connected to the node 10-3, and so on, the sensor group 1-4.1-5. ...1-n and actuator group 2-4.2-5. ...2-n is each node 10-4.10-5. ...10-n, respectively.

Sensor group 1-1.1-2. ... Signals indicating the status of each part of the press output from 1-n are output from each node 10-1.10
-2. ...main controller 10 via 10-n
0 and is collected and processed by the main controller 100.

Actuator group 2-1.2-2. ...2-n is generated in the main controller 100,
Each node 10-1.10-2. ...10-n to each actuator group 2-1.2-2゜...2-n, and thereby each actuator group 2-1.2-2
...2-n each actuator is controlled.

In the above configuration, nodes 10-1, 10-2゜...
10-n number and node 10-1.10-2°...
Sensor group 1-1.1-2゜ connected to 10-n...
Number of sensors included in 1-n, actuator group 2-1
．． 2-2. . . . 2-n shows the configuration of a main controller 100 according to an embodiment of the present invention, which includes an additional configuration for detecting the number of actuators included in 2-n.

In FIG. 1, a normal transmitting circuit 101 and a normal receiving circuit 105 are connected to a sensor group 1-1 connected to each node.
1.1-2. ...1-n and actuator group 2-
1.2-2. . . . executes normal operations such as control of 2-n. That is, the normal transmitting circuit 101 has actuator groups 2-1, 2-2 connected to each node.
．． . . . Generates a data signal containing data for controlling the switches S and W1, respectively, and sends this data signal to the contacts B and A of the switches S and W1.

Line jo, j1. J2. I3. . . . Each node, Do 10-1, 10-2, etc. via In-1. -A Send sequentially to O-n. Further, the normal receiving circuit 105 includes sensor groups 1-1.1-2. connected to each node. . . . The detection data corresponding to the detection signals of 1-n are sent to line j1. j2. j3.
...jn, and performs predetermined processing of these detected data. Note that the details of the normal transmission circuit M101 and the normal reception circuit 105 are not the gist of this invention, so further explanation will be omitted.

When detecting the number of terminals included in this system, such as the number of nodes, the number of sensors, and the number of actuators, at the time of starting up this system, etc., the switch SW1 is moved from the state shown (A-8) by the signal from the 1lIJt11 circuit 104. Switch to (A-C). At the same time, the control circuit 104 stops the operation of the normal transmission circuit 101, and the NS generation circuit 10
Drive 2.

As a result, the NS generation circuit 102 generates a code signal @NS, which is a special code for detecting the number of terminals. This code signal NS is sent to the first stage node 10-1 via the OR circuit OR1, the contact CA of the switch SW1, and the line Jo.

When the NS generating circuit 102 finishes sending out the code signal NS, the counter section zero transmitting circuit 103 is driven in synchronization with this. The counter interval zero transmission circuit 103 generates "0" only in a predetermined interval (number of bits) set in advance. This section becomes a counter section for counting the number of terminals as described later. The rOJ signal generated from this power output section zero transmitting circuit 103 is
Following the code signal NS generated by the S generation circuit 102, it is outputted via the OR circuit OR1 and the contact point C-A line jo of the switch SW1.

Figure 3 shows the timing of the above operations!・This is the one shown. When the switch SW1 is in the state (A-B), the output of the normal transmitting circuit 101 appears on the line JO1, that is, the output signal of the main controller 100 (FIG. 3(a)), and the switch SW1 is in the state I. When switched from (A-B) to <A-C) (third
3(d)), a code signal NS is generated in the NS generating circuit 103, and this code signal NS appears in the output signal of the main controller (FIG. 3(e)). When the generation of the code signal NS from the NS generating circuit 103 is completed, "0" is then sent from the counter interval zero transmitting circuit 103 for the desired counter interval (FIG. 3(C)).

The signal of this counter section IJ rOJ appears in the output signal of the main controller following the code signal NS described above (FIG. 3(e)). In this embodiment, the sum of the lengths of the code signal NS and the counter section is set to be C bits.

Node 10-1.10-2. ...10-n are each configured like the node 10 shown in FIG.

In FIG. 5, a normal signal processing circuit 11 performs signal processing for normal operation. That is, the normal signal processing circuit 11 outputs the outputs of the sensor group (not shown) connected to this node 10 through the switch 5W12 and the OR circuit 0R1.
1 to the next stage node, and from the signal transmitted from the normal transmission circuit 101 of the main controller 100, a signal for a group of actuators (not shown) connected to this node 10 is extracted, and this signal is sent to this node. Performs processing to send data to a group of connected actuators. Note that the details of this normal processing circuit 11 are not the gist of the present invention, so further explanation will not be given.

When a code signal NS for detecting the number of terminals is input from a previous node (not shown), the code signal NS is detected by the code signal NS detection circuit 12. The NS detection circuit 12 switches 5W11 from the off state shown in the figure to on, and switches the switch 5W12 from the on state shown in the figure to off. Further, the output of the NS detection circuit 12 is applied to a C-bit delay circuit 13 and delayed by C bits.

The output of the C-bit delay circuit 13 causes the switch 13 to be switched from the off state shown in the figure to the on state. Further, the output of the C-bit delay circuit 13 is applied to the NS generation circuit 14, and a new code signal NS is generated based on the output of the C-bit delay circuit 13.

By turning off the switch 5W12, the output of the normal signal processing circuit 11 is prohibited. Also, switch 5W
11 is turned on, the signal from the previous node is input to the C bit shift circuit 15 and delayed by C bits. Here, since the switch 5W11 is turned on when the code signal NS ends, only the data of the counter section following the code signal NS is applied to the C bit shift circuit 15. , C bit shift circuit 15 delays the data in this counter section by C bits and outputs the delayed data. The output of this C bit shift circuit 15 is +
1 circuit 16, and "1" is added to the data in the counter area output from the C bit shift circuit 15.

In this embodiment, the number of terminals connected to this node 10, that is, the number of sensors included in the sensor group and the number of actuators included in the actuator group, are expressed as rlJ.
, so "1" is added, but this number is "2"
If rNJ is above, the value rNJ is replaced by +1 circuit 16.
A 1N circuit is provided for adding .

Note that when detecting the number of nodes themselves rather than the number of terminals connected to a node, the +1 circuit 16 can be used as in the case of this embodiment.

The output of +1 circuit 16 is applied to switch 5W14.

The switch 14 is switched from the off state shown in the figure to the on state at the time when the above-described NS generation circuit 14 finishes generating the code signal NS.

The output of the NS generation circuit 14 and the output of the switch 5W14,
The force is applied to the OR circuit 0R11.

Therefore, the OR circuit 0R11 first outputs the code signal NS generated by the NS generation circuit 14, and then outputs the data of the counter section to which "1" has been added by the +1 circuit 16. The code signal NS outputted from this OR circuit MORII and the data in the counter section are sent to a next stage node (not shown).

The above-described operation at the node 10 is performed at the first stage node 10-
The timing chart for 1 is shown in FIG. 6. In FIG. 6, the signal shown in FIG. M6 (a) generated by the main controller 100 is input to the node 10-1. This signal is the same as the signal shown in FIG. 3(e) described above.

When the code signal NS of this signal is detected by the NS detection circuit 12, the switch SWI1 is turned from off to on (sixth
(b)), the switch SWI 2 turns from on to off (see (c) in Fig. 6). When the switch 5W11 turns on, the data in the counter section of the input signal is added to the C bit shift circuit 15, and the counter The data in the section is delayed by C bits (FIG. 6(d)).

In addition, the switch 5W13 changes the output of the NS detection circuit 12 to C.
It is switched from off to on by the output of the C-bit delay circuit 13 that delays bits (FIG. 6(e)). +1 circuit 1
6 adds "1" to the data in the counter area (FIG. 6(d)) outputted from the C bit shift circuit 15 via the switch SW13 which has been turned on, and changes the counter data to the value shown in FIG. Step forward as shown in (f).

Further, the NS generation circuit 14 is driven by the output of the C-bit delay circuit 13, and a new code signal NS is output from the NS generation circuit 14 ((9) in FIG. 6). When the generation of the code signal NS from the NS generation circuit 14 is completed, the switch 5W14 is turned from off to on (FIG. 6(h)).
A data signal shown in FIG. 6 1i) is output from this switch SW14.

The code signal NS shown in FIG. 6 (tg) and FIG. 6 (i)
The data signals shown in are synthesized by the OR circuit 0R11, and the sixth
The signal is output as shown in Figure (j).

Note that the switch 5W11 may be configured to be turned off, for example, when sending out the output signal is completed, the switch 5W12 to be turned on, and the switch SWI4 to be turned off.

In this way, from node 10-1, main controller 1
A signal in which "1" is added to the data in the counter section following the code signal NS output from 00 is output together with the code signal NS.

FIG. 7 shows each node 10-1, 10-2.
. . . shows an example of a signal output from 10-n. In addition, in FIG. 7, each node 10-1.10
-2. . . . This shows a case where the number of terminals connected to 10-n is "1" and "1" is added at each node. As shown in FIG. 7, the signal shown in FIG. 7(a) is output from the node 10-1 via the crawling input j1. The data of the counter section of this signal is "1" of 10 roads.
” and is the same as the signal shown in FIG. 6(j) described above. A signal shown in FIG. 7(b) is output from the node 10-2 via the line J2. The data in the counter section of this signal corresponds to decimal number "2".

In addition, from the node 10-3 through the crawling in j3, the connection in FIG. 7 (
A signal shown in C) is output. The data in the counter section of this signal corresponds to the decimal number "3". Similarly, from node 10-n through crawling jn,
) is output, and the data in the counter section of this signal corresponds to decimal number "n".

The signal output from the node 10-n is input to the main controller 100 shown in FIG. 1 via the line Jn,
The code signal NS included in this signal is detected by the NS detection circuit 10.
Detected at 6. The NS detection circuit 106 receives the code signal NS
In response to the detection, the switch SW2 is turned on from the off state shown in the figure. Also, the output of the NS detection circuit 106 is C
The signal is delayed by C bits in a bit delay circuit 107, and the output of this C bit delay circuit 107 enables the display 109. By turning on the switch SW2, data in the counter section of the signal input from line jn is input to the counter value detection circuit 108. The counter value detection circuit 108 detects the number of terminals in this system based on the input data of the counter section. The value detected by this counter value detection circuit 108 is displayed on the display 109.
and displayed as the number of system terminals.

The above operation in the main controller 100 is shown in a timing chart as shown in FIG.

In Figure 4, from line jn to main controller 1
When the code signal NS detection circuit 106 detects the signal input to 00, that is, the input signal of the main controller (FIG. 4 (a)), the switch SW2 is turned from OFF to ON (FIG. 4 (B)). The data of the counter section of the input signal of the main controller is detected by the counter value detection circuit 10.
Incorporated into 8. The display 109 is the C bit delay circuit 10
7 (FIG. 4(C)), the counter value based on the data taken in by the counter value detection circuit 108, in this case n, is displayed (FIG. 4(E)).
.

Note that in the above embodiment, each node 10-1.10 to 2. ，
The number of terminals connected to 10-n is set to "1", but even if this value is rNJ of "2" or more, as mentioned above, by replacing the +1 circuit 16 of each node with 10N circuits, It can be configured similarly.

In this way, the display device 10 of the main controller 100
9 displays the total number of terminals (sensors, actuators) connected to all nodes or the total number of nodes, and the operator can easily determine the total number of terminals or nodes by looking at the displayed value on this display 109. You can know it quickly and reliably, and you can also check it.

FIG. 8 shows another embodiment of the node 10 shown in FIG. In this embodiment, the code signal NS is not generated again at each node, but the input code signal NS is passed through and sent as is to the next node. According to such a configuration, the number of nodes,
The time required to detect the number of terminals can be further reduced.

In the configuration shown in FIG. 8, the normal processing circuit 11 performs normal processing operations. This normal processing circuit 1
1 performs the same operation as the normal processing circuit 11 shown in FIG.

When a code signal NS indicating a special code for detecting the number of terminals is input from a previous node (not shown), this code signal NS is detected by the NS detection circuit 17. As a result, the NS detection circuit 17 switches the switch 5W11 from off to on, and switches the switch 5W12 from on to off. When the switch 5W12 is turned off, the output of the normal processing circuit 11 is prohibited.

Further, the NS detection circuit 17 passes the detected code signal NS as it is, and adds it to the OR circuit 0R12.

When the switch SW11 is turned on, data in the counter section of the input signal is added to the +1 circuit 18, where "1" is added. In this embodiment, "1" is added to the first pit of the signal output from the switch SWI 1, and the data in the counter section is configured such that the first bit is the least significant pit. The output of the +1 circuit 18 is combined with the code signal NS output from the NS detection circuit 17 by the OR circuit 0R12.
Output to the next node.

FIG. 9 is a timing chart showing the above operation. When an input signal as shown in FIG. 9(a) is input and a code signal NS is detected by the NS detection circuit 17, the switch 5W11 is switched from off to on as shown in FIG. 9(b), and the switch 5W11 is switched from off to on as shown in FIG. The SW 12 is switched from on to off as shown in FIG. 9(C). NS detection circuit 1
7 is the code signal NS input as shown in FIG. 9(d).
pass through as is. By turning on the switch 5W11, data in the counter section of the human signal is extracted, and +
One circuit 18 adds "1" to the first bit of this data (FIG. 9(f)). The output of the NS detection circuit 17 (Fig. 9(d)) and the output of the +1 circuit 18 (Fig. 9(f)) are combined in the OR circuit 2BOR12, and the output signal (Fig. 9(g)
)) is output.

FIG. 10 shows each node 10-1, 10-2. ... shows an example of a signal output from 1Q-n. In the case shown in FIG. 10, the case is shown in which the number of terminals connected to each node is one, similar to the case shown in FIG. The difference from Fig. 7 is that in Fig. 7, the rearmost pit I is the lowest pit, whereas the 10th pit is the lowest pit.
In the case of the figure, the data in the counter section is incremented from the most significant pit to the least significant pit.

In addition, in the configuration of FIG. 8, if the number of terminals connected to the node is 2 or more, rNJ
It is sufficient to convert it into e using a 10N circuit that adds the .

In either embodiment, the number of nodes, actuators, sensors, etc. of the entire system can be easily detected by making the number added at each node correspond to the number of nodes, actuators, sensors, etc.

〔Effect of the invention〕

As explained above, according to this optical communication, the number of nodes or the number of terminals connected to the nodes can be easily and quickly reduced.
Furthermore, it is possible to accurately detect, operate the system accurately, and start up the system safely.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing an example of a main controller according to an embodiment of the present invention, FIG. 2 is a block diagram showing the overall configuration of a series control device to which this embodiment is applied, and FIGS. The figure is a timing chart explaining the operation of the main controller shown in Fig. 1, Fig. 5 is a block diagram showing an example of a node related to this embodiment, and Fig. 6 is a timing chart explaining the operation of the node shown in Fig. 6. 7 is a signal diagram showing an example of the output signal of each node in the node configuration shown in FIG. 6, FIG. 8 is a block diagram showing another embodiment of the node, and FIG. FIG. 10 is a timing chart for explaining the operation of the nodes shown in the figure, and FIG. 10 is a signal diagram showing an example of the output signals of each node in the node configuration shown in FIG. io, 1o-i, ~10-n... node, 11.
...Normal signal processing circuit, 12.17,106...
NS detection circuit, 13.107...C bit delay circuit,
14.102...NS generation circuit, 15...C bit shift circuit, 16.18...+1 circuit, 100...
Main controller, 101... normal transmission circuit,
103... Counter section zero transmission circuit, 104...
Control circuit, 105... Normal receiving circuit, 108...
- Counter value detection circuit, 109...display device. (Q)/-do to-+ output NSO-
----01(b) Output of node 10-2 N
S 0------10(d) No white 0-n no output 7:l NS OO110---(d)
NSS output circuit output (e) SWll output + 1 circuit output - ■ 口Fkaku-I -Roro- Figure 7 Figure 9 Output of node 10-1 ("d) Output of node 10-〇

Claims (4)

[Claims] (1) In a series control device in which a plurality of nodes are connected in series, the plurality of nodes are connected in a closed loop including a main controller, and each node is connected to one or more terminals, the main The controller is provided with means for transmitting a special code and the numerical data following the special code, and each node is provided with a step for incrementing the numerical data following the special code in accordance with the number of terminals connected to the node. and a means for transmitting the numerical data incremented by the incrementing means to the next stage node following the special code, and further, the main controller is provided with A device for detecting the number of terminals in a serial control device, comprising means for detecting the number of terminals based on subsequent numerical data. (2) The terminal connected to each node includes an output terminal that outputs a signal to each node and an input terminal that inputs a signal from each node, and the stepping means is the output terminal connected to the node. 2. The device for detecting the number of terminals in a serial control device according to claim 1, wherein the numerical data is incremented by the number of terminals. (3) The terminal connected to each node includes an output terminal that outputs a signal to each node and an input terminal that inputs a signal from each node, and the stepping means is the input terminal connected to the node. 2. The device for detecting the number of terminals in a serial control device according to claim 1, wherein the numerical data is incremented by the number of terminals. (4) In a series control device in which a plurality of nodes are connected in series, the plurality of nodes are connected in a closed loop including a main controller, and each node is connected to one or more terminals, the main The controller is provided with means for transmitting a special code and numerical data following the special code, and each of the nodes has step means for incrementing the numerical data following the special code by a predetermined unit value, and this step means. means for sending the numerical data incremented by the special code to the next stage node following the special code, and the main controller further includes means for calculating the number of nodes based on the numerical data following the special code that has passed through the plurality of nodes. A device for detecting the number of terminals in a series control device, which is provided with a means for detecting the number of terminals.