JPH04225641A - Device and method for checking node of series control device - Google Patents

Abstract

PURPOSE:To easily and precisely check a node function in a series control device. CONSTITUTION:The communication error detection function, the erroneous output prevention function, and the data input/output function of the node 21 are checked on the basis of the transmitted contents of a data frame signal transmitted from a personal computer 3 to the node 21, received contents at the personal computer 3, and the contents of input/output data between the personal computer 3 and a dummy I/O box. Besides, a breaking of wire detection function is checked by stopping the transmission of a transmission signal from the personal computer 3 to the node 21, and monitoring the received contents of the personal computer 3.

Description

[Detailed description of the invention]

0001

[Industrial Application Field] The present invention relates to a series control device used in a centralized control system for various machines such as presses, machine tools, construction machines, ships, and aircraft, as well as in a centralized control system for unmanned conveyance devices, unmanned warehouses, etc. The present invention relates to a node check device and a method thereof, which can easily and completely check the functions of individual nodes with a simple configuration before they are connected in series.

0002

2. Description of the Related Art FIG. 13 shows a plurality of nodes (node controllers) 21, 22, 23 connected in series. sensor 31 and actuator 32 are connected, and these nodes are connected to the signal line 30 via the main controller 10.
This conceptually shows the configuration of a series control device in which the nodes are connected in a loop and each node is controlled by a signal from the main controller 10. The control controller 11 controls the target machine in an integrated manner. Note that the specific configuration of such a series control device and its operation are well known from various patent applications filed by the present applicant, and therefore detailed explanation thereof will be omitted in this application.

[0003] In such a loop-shaped series control device,
As shown in Figure 11, the data section (mainly the actuator)
A data frame signal S0(
(hereinafter referred to as frame signal) is the main controller 10.
The signal is transmitted in one direction at a predetermined period. By the way, each node has the following functions.

1) Communication error detection function When a communication error occurs before a node, the node detects the communication error by checking the error check code CRC in the frame signal. Detect what has happened. At this time, the received frame
An error code ERR indicating the occurrence of an error is added to the system signal and sent (see FIG. 12). As a result, the main controller side can detect the occurrence of a communication error by detecting the error code ERR added to the received frame signal.

2) Erroneous output prevention function Similarly, when a communication abnormality occurs, the contents of control data DO become erroneous. Therefore, the node handles the control data with the error.
For safety, the data DO is not output to the actuator. In other words, the node retains the control data included in the previously received frame signal, and the content of the control data in the currently received frame signal has been inspected and found to be an error. In this case, the previous normal control data held is applied to the actuator (if there is no error, the current normal control data is applied).

3) Data input/output function When the node receives the frame signal, it outputs the control data DO included in the frame signal to the actuator and also detects it with the sensor. The detected detection data DI is inputted, added to the frame signal, and sent out (see FIG. 12).

4) If a frame signal is not detected for a predetermined wire breakage detection time or longer, the wire breakage detection function node outputs a wire breakage signal SB (see FIG. 9) containing wire breakage position data indicating the wire breakage position. The main controller side learns of the occurrence of a wire breakage by receiving the wire breakage signal SB.

[0008] Each of the functions described above needs to be checked at the stage when each node is manufactured and shipped before being incorporated into a serial control device. Therefore, a check device shown in FIG. 14 can be considered as a check device for performing such a function check. That is, as shown in the figure, the device 1' and the individual node controllers (for example, 21
) and the device 2' are connected in series by a signal line 33. Then, a frame signal is sent out from the signal generation circuit section 1'a of the device 1' based on predetermined software. The waveform observation/inspection circuit section 2'a of the device 2' receives the frame signal based on predetermined software, and checks the function of the node 21 by observing and inspecting the waveform.

[0009]

In the conventional checking apparatus shown in FIG. 14, the apparatus is separated into a frame signal transmitting side and a frame signal receiving side, so two apparatuses 1' and 2' are required. Therefore, in order to perform operations for transmitting frame signals,
In addition, in order to observe and inspect the received frame signals, operators must be placed on the 1' and 2' sides of the two devices, or they must be moved to separate locations. Because of this, the device is difficult to use and the operation is cumbersome.

Furthermore, since the two devices 1' and 2' are separated, signals are not synchronized in these devices 1' and 2'. Therefore, even if device 1' stops transmitting the frame signal to check the disconnection detection function in 4),
"Device 1' has stopped transmitting" information to device 2'
There is an aspect that it is not possible to accurately check the disconnection detection function because it is not possible to notify the user at an accurate timing.

Furthermore, even if there is input/output of detection data of the sensor 31 and control data of the actuator 32, whether such data has been input/output is determined by the reception by the device 2'. There is no choice but to make a judgment based on the observation results of the frame signal, and the sensor 31 actually sends the detection data to the node 21.
It is not possible to completely check whether the control data has been output from the node 21 or whether the actuator 32 has actually inputted the control data from the node 21. Therefore, 2)
Therefore, it was not possible to completely check the erroneous output prevention function (2) and the data input/output function (3).

The present invention has been made in view of the above circumstances, and provides an apparatus and a method thereof that can easily check the functions of a node without any troublesome operations, and can perform the functions of the node accurately and completely. Its purpose is to provide.

[0013]

[Means for Solving the Problems] Accordingly, in a first aspect of the present invention, a plurality of nodes and a main controller are connected in series via signal lines, so that a plurality of nodes can be connected from the main controller to the main controller. - A predetermined data frame signal given to the node is unidirectionally transmitted via the signal line at a predetermined period, and each of the plurality of nodes transmits the data of the received data frame signal. When a data error is detected and an error has occurred, the error code portion indicating the occurrence of the error in the data frame signal is changed to an error code corresponding to the error that has occurred. In the serial control device equipped with an error check function for sending data,
a sending means for sending a data frame signal including data for generating a data frame; and a sending means for sending a data frame signal including data for generating
error code detection means for receiving a frame signal and detecting the error code included in the received data frame signal; and detecting the error code generated by the error code detection means. −
a pseudo main controller having means for outputting a signal indicating that the node is abnormal when an error code corresponding to the error is not detected; It connects to a plurality of nodes individually to check the error checking function of each of the plurality of nodes.

Further, in the second aspect of the present invention, the main controller is connected in series with a plurality of nodes to which one or more actuators are connected via signal lines. A data frame signal including control data to be applied to the actuator from the plurality of nodes is unidirectionally transmitted via the signal line at a predetermined period, and each of the plurality of nodes transmits the received data. If an error occurs in the control data included in the data frame signal, the buffer circuit that applies control data to the actuator is not updated with the current control data. In a serial control device equipped with a data update function, a data frame signal containing error-free control data and an error-free
a first signal line connecting the output of the sending means to the node; and a buffer of the node. a second signal line connected to the output terminal of the circuit;
a pseudo main controller comprising: a receiving memory that receives the output of the buffer circuit from a signal line; and testing means that tests the data update function by determining data contents of the receiving memory. The data update function of each of the plurality of nodes is checked by this pseudo main controller.

Further, in the third aspect of the present invention, a plurality of nodes to which one or more sensors and one or more actuators are connected, respectively, and the main controller are connected in series via a signal line. By doing so, a data frame signal containing control data given to the actuator from the main controller is unidirectionally transmitted via the signal line at a predetermined period, and the data frame signal is transmitted between the plurality of nodes. Each outputs the control data included in the received data frame signal to the actuator, and inputs the detection data detected by the sensor and outputs the input detection data. In the serial control device equipped with a data input/output function for adding and transmitting a data frame signal to the data frame signal, a pseudo input/output device is provided at the node as a substitute for the sensor and actuator. Each node to which this pseudo input/output device is connected is connected in series via a signal line to a pseudo main controller as a substitute for the main controller, and the pseudo main controller is sends the detection data to the pseudo input/output device, and
A sending means for sending out a data frame signal including the control data via the signal line, and a storage means for storing the detection data and the control data sent by the sending means. The pseudo input/output device outputs the detection data sent by the sending means to the node, and also outputs the control data input from the node to the pseudo main controller. The pseudo main controller receives the data frame signal transmitted from the node and transmits detected data included in the received data frame signal. If the data does not match the detection data stored in the storage means, a signal indicating that the node is abnormal is output, and the control data sent from the pseudo input/output device is Further comprising means for outputting a signal indicating that the node is abnormal when the control data does not match the control data stored in the storage means, and the data input/output function of each of the plurality of nodes is controlled. I am trying to inspect it.

Further, in the fourth aspect of the present invention, by connecting the plurality of nodes and the main controller in series via the signal line, the predetermined signals given from the main controller to the plurality of nodes are connected in series. The data frame signal is unidirectionally transmitted via the signal line at a predetermined period, and each of the plurality of nodes detects the data frame signal for a preset disconnection detection time or longer. In a series control device that is equipped with a disconnection detection function that sends out a disconnection signal indicating the occurrence of a disconnection, including preset disconnection position data when the data frame signal is not detected, the transmission stops the transmission of the data frame signal. a stop means; a timer means for measuring the time from when the transmission is stopped by the transmission stop means until the wire breakage signal is received; A pseudo main controller having detection means for detecting an abnormality in a node and detecting an abnormality in the node by determining disconnection position data included in a received disconnection signal, This pseudo main controller is connected to each of the plurality of nodes to test the disconnection detection function of each of the plurality of nodes.

[0017]

According to the configuration of the first aspect of the invention, a data frame signal indicating that an error has occurred is sent from the pseudo main controller to the node. If the node is normal, the data of the received data frame signal
When a data frame error is detected, an error code indicating the occurrence of an error is added to the data frame signal and the signal is sent to the pseudo main controller. The pseudo main controller receives a data frame signal sent from a node and detects an error code contained in the received data frame signal. Here, if the node is normal, an error code is detected, but if no error code is detected, a signal indicating that the node is abnormal is output. In this way, the error code addition function of the node is checked, that is, the communication error detection function (1) is checked.

Further, according to the configuration of the second invention, the data frame signal containing error-free control data and the error-containing control data are sent from the pseudo main controller to the node. The data frame signals containing the data frame signals are continuously transmitted. If the node is normal, when the second data frame signal is received, it will detect that the control data included in the current data frame signal is an error. Then, the control data included in the previously input data frame signal is output to the pseudo actuator. As a result, the control data successively input to the pseudo actuator match. The pseudo actuator sends input control data to the pseudo main controller. The pseudo main controller receives the control data sent from the pseudo actuator, and determines that the node is abnormal if the contents of both received control data do not match. Outputs a signal indicating. In this way, the function of not updating the control data when an error occurs in the control data, that is, the erroneous output prevention function of 2) is checked.

According to the configuration of the third aspect of the invention, a data frame signal containing control data is sent from the pseudo main controller to the nodes. On the other hand, the pseudo main control
Detection data is also sent from the controller to the pseudo input/output device. These transmitted control data and detection data are stored. If the node is normal, the detected data is input from the pseudo input/output device and added to the data frame signal, and the control data in the data frame signal is
After outputting the data to the pseudo input/output device, the data frame signal is sent to the pseudo main controller. The pseudo input/output device sends input control data to the pseudo main controller. The pseudo main controller receives the received data frame.
If the detected data in the system does not match the stored detected data, a signal is output indicating that the node is abnormal. Further, if the control data sent from the pseudo input/output device does not match the stored control data, a signal indicating that the node is abnormal is output. In this way, it is possible to monitor whether detection data is actually input to the node from the pseudo I/O device and whether control data is actually output from the node to the pseudo I/O device. 3) The data input/output function is checked.

According to the fourth aspect of the invention, the pseudo main controller stops transmitting the data frame signal at a predetermined period. As a result, if the node is normal, if the data frame signal is not detected for a preset disconnection detection time, it will generate a disconnection signal indicating the occurrence of a disconnection, including the preset disconnection position data. Send. In the pseudo main controller, a timer is started when transmission of the data frame signal is stopped, and counts the time until the disconnection signal sent from the node is received. here,
If the node is normal, this count value should match the preset disconnection detection time. Therefore, if the count value does not match the preset disconnection detection time, a signal indicating that the node is abnormal is output. On the other hand, if the node is normal, the wire breakage position data in the wire breakage signal received by the pseudo main controller should match the preset wire breakage position data. Therefore, if the wire breakage position data in the received wire breakage signal does not match the preset wire breakage position data, a signal indicating that the node is abnormal is output. In this way, the disconnection detection function 4) is checked.

[0021]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of a node check device for a serial control device according to the present invention will be described with reference to the drawings.

FIG. 1 shows the external appearance of a node check device according to an embodiment. In this embodiment, the node 21 shown in FIG. 13 is assumed as the node to be checked. As shown in the figure, the node 21 is manufactured and is connected to I/O terminals 26 and 27 of the node 21 via signal lines 36 at the shipping stage before being incorporated into the serial control device of FIG. Dummy I/O box 2 is connected. Further, one end of a communication line 34 made of an optical fiber or an electric wire is connected to the frame signal terminals 24 and 25 of the node 21, and the other end of each communication line 34 is connected to a general-purpose personal It is connected to a check board 1, which will be described later, which is an expansion control board inserted into a computer main body (hereinafter simply referred to as a personal computer) 3. That is, the node 21 and the check board 1 are connected in series in a closed loop via the communication line 34. Furthermore, check board 1 and dummy I
It is connected to the /O box 2 by a signal line 35.

A CRT display device 4 is connected to the personal computer 3, and a display described below is performed on a display screen 4a of the display device 4. The personal computer 3 and the check board 1 inserted therein have the functions of the main controller 10 in FIG. 13, and operate according to check processing software stored in the hard disk. That is, communication line 3
4, a frame signal S0 of the protocol shown in FIG. 11 is generated and serially transmitted in one direction toward the terminal 24 of the node 21. The node 21 receives this frame signal S0 and sends a frame signal S1 of the protocol shown in FIG. 12 from the terminal 25 to the check board 1 via the communication line 34. Dummy I/O box 2
are the sensor 31 and actuator 32 in FIG.
It has the function of signal line 35 from check board 1.
Input/output of detection data of the sensor 31 and control data of the actuator 32 is performed between the node 21 and the node 21 according to commands inputted via the node 21. That is, terminal 2 of node 21
The control data DO outputted from the check board 7 via the signal line 36 is input, and the input control data DO is sent to the check board 1 via the signal line 35. On the other hand, when the detection data DI to be added to the frame signal S0 is sent from the check board 1 to the dummy I/O box 2, the dummy I/O box 2 sends the detection data DI to the dummy I/O box 2 via the signal line 36. - The detection data DI is sent to the terminal 26 of the board 21, and the frame signal S
Add detection data DI to 0.

FIG. 2 shows the structure of the check board 1, and FIG. 3 shows the structure of the dummy I/O box 2.

As shown in FIG. 2, the address bus of the personal computer 3 passes through a chip select circuit 40 to a transmission memory 41,
42, connected to the receiving memories 43, 44, error buffer 45, disconnection buffer 46, timing circuit 53, and connected to the dummy output signal circuit 59 and dummy input of the dummy I/O box 2 via the signal line 35. It is connected to the signal circuit 60 (see FIG. 3). In the personal computer 3, commands according to the check processing software are sent to the address bus and the chip select circuit 40, and are selectively sent to the transmission memories 41, 42,
The timing circuit 53 sends read and write commands to the reception memories 43 and 44, the error buffer 45, the disconnection buffer 46, the dummy output signal circuit 59, and the dummy input signal circuit 60.
Outputs control instructions to. The data bus of the personal computer 3 is connected to transmitting memories 41 and 42, receiving memories 43 and 44, an error buffer 45, a disconnection buffer 46, and a disconnection detection time measurement counter 58, and is also connected to a dummy I via a signal line 35. It is connected to a dummy output signal circuit 59 and a dummy input signal circuit 60 of the /O box 2. In the personal computer 3, the transmission memory 41 is selected according to the selection of the chip select circuit 40.
, 42, reception memories 43, 44, error buffer 45,
Disconnection buffer 46, disconnection detection time measurement counter 58,
Data input/output is performed in the dummy output signal circuit 59 and the dummy input signal circuit 60. The timing circuit 53 outputs a switching signal to the switching circuits 51 and 52 according to the control command, and also outputs a reset signal R for resetting the count value to the disconnection detection time measuring counter 58. The P/S conversion circuits 47 and 48 are selected depending on the content of the switching signal input to the switching circuit 51. That is, when the P/S conversion circuit 47 is selected, the transmission memory 4
1 is subjected to parallel/serial conversion in the P/S conversion circuit 47 and sent to the transmission circuit 5 via the switching circuit 51.
4 and is serially transmitted to the terminal 24 of the node 21 via the communication line 34 as a frame signal S0. Similarly P/
When the S conversion circuit 48 is selected, the data stored in the transmission memory 42 is transferred from the communication line 34 to the terminal 24 of the node 21.
is serially transmitted. In the receiving circuit 55, the frame signal S1 sent from the terminal 25 of the node 21 is transmitted to the communication line 34.
is received via. Similar to the switching circuit 51, the switching circuit 52 also selects the S/P conversion circuits 49 and 50 according to the contents of the input switching signal, and selects the frame received by the receiving circuit 55 according to the selection result. The signal S1 is applied to either the S/P conversion circuit 49 or 50. S/P conversion circuit 4
At 9 and 50, the frame signal S1 is serial/parallel converted and stored in reception memories 43 and 44, respectively.

In the error code detection circuit 56, the reception circuit 5
The frame signal S1 received at step 5 is input, and the frame signal S1 received at
The error code ERR contained in the system signal S1 is detected. While the error code ERR is input to the error code detection circuit 56, the error code detection circuit 56 detects an error.
The code detection signal is applied to the error buffer 45, and while the error code detection signal is being applied, the error buffer 45 stores the error code ERR. The disconnection code detection circuit 57 receives the disconnection signal SB received by the receiving circuit 55 and detects the disconnection code included in the disconnection signal S'1. While a disconnection code is detected and subsequent disconnection position data is input to the disconnection code detection circuit 57, the disconnection code detection circuit 56 transfers the disconnection position data detection signal to the disconnection buffer 46. In addition to this, while this wire breakage position data detection signal is being applied, the wire breakage buffer 46 stores the wire breakage position data. When a reset signal R is applied from the timing circuit 53 to the disconnection detection time counter 58, the count value is reset. Thereafter, the disconnection detection time counter 58 counts up. When the disconnection code detection circuit 57 detects the disconnection code, the disconnection code is detected.
A count end signal E for ending counting is output from the code detection circuit 57 to the disconnection detection time counter 58.
In response to this, the counter 58 finishes counting up. Thereafter, while the wire breakage position data detection signal is being input, the count value of the counter 58 is held.

On the other hand, as shown in FIG. 3, the dummy output signal circuit 59 of the dummy I/O box 2 receives the logic voltage 5V detection data DI from the data bus of the personal computer 3 via the signal line 35. When the detection data DI is detected by the signal level conversion circuit 61, it is converted to the detection voltage level A of the sensor.
The level is converted to a voltage of C100V or DC24V,
It is applied to terminal 26 of node 21 via signal line 36. At the node 21, the detection data DI applied to the terminal 26
The level is again converted to a logic voltage of 5V and input. Further, control data DO having a voltage of 100 VAC or 24 VDC, which is the drive voltage level of the actuator, is applied from the terminal 27 of the node 21 to the signal level conversion circuit 62 via the signal line 36. The signal level conversion circuit 62 converts the control data DO into a logic voltage of 5V and converts it into a dummy signal.
It is added to the input signal circuit 60. The dummy input signal circuit 60 transmits control data to the personal computer 3 via the signal line 35 and the data bus.
Output data DO.

If the node 21 is normal, it operates as follows. Incidentally, since the specific circuit configuration of the node 21 is not a feature of the present invention, its illustration and detailed explanation will be omitted.

Now, consider a configuration in which only the main controller 10 and the node 21 are connected in a closed loop in the series control device shown in FIG. First, a frame signal S0 of a protocol as shown in FIG. 11 is transmitted from the main controller 10 at a predetermined sampling period T. This frame signal S0 includes a first start code STI indicating the beginning of the detection data DI detected by the sensor 31, and a first start code STI indicating the beginning of the control data DO given to the actuator 32. 2 start code STO, a stop code SP indicating the end of these data strings, and a CRC code for checking data errors by CRC check. The node 21 receives the frame signal S0.

3) In the data input/output function node 21, when the first start code STI of the frame signal S0 is detected, the sensor connected to the node 21 Detection data DI from 31 is input. Then, a frame signal S1 to which detection data DI is added following the first start code STI is transmitted to the signal line 3.
0 to the main controller 10 (Fig. 1
(see 2).

2) Erroneous output prevention function, 3) Data input/output function Next, when the second start code STO is detected, it is applied to the actuator 32 connected to the node 21. Detection of errors in control data DO is performed. Here, the node 21 uses the control data in the previously received frame signal S'0.
It holds the data DO'. Therefore, this time the control data DO
If no error is detected as a result of error detection,
The current control data DO is sent to the actuator 32. On the other hand, if an error is detected as a result of the error detection of the current control data DO, the previous control data DO' is sent to the actuator 32. After all, if an error is detected this time, the same control data DO' from the previous time will be continuously output to the actuator 32. In addition, the second
The start code STO is output to the main controller 10 via the signal line 30 (see FIG. 12).

1) Communication error detection function frame signal S
Following extraction of the control data DO from 0, a stop code SP is detected and output to the main controller 10 via the signal line 30 (see FIG. 12). By the way, after the first start code STI is detected, the node 21
Now, a new CRC code is generated. This new C
The RC code is output to the main controller 10 via the signal line 30 following the stop code SP (see FIG. 12). Further, the node 21 detects communication errors by checking the CRC code. Here the CRC
If the contents of the code indicate that an error has occurred, the new CRC code is followed by an error code ERR (for example, all bits are is the logic “1” level) and connects the signal line 30.
It is output to the main controller 10 via (see FIG. 12). 4) If a disconnection occurs in the signal line 30 before the disconnection detection function node 21, the frame signal S0, which has been transmitted from the main controller 10 every cycle T, will no longer be input. Therefore, when a predetermined disconnection detection time nT (n is a preset number) has elapsed without a start code STI being detected since the last start code STI was detected, the node 21 A disconnection signal SB as shown in FIG. 9 is output to the main controller 10 via the signal line 30.

The disconnection signal SB is a disconnection code indicating the occurrence of a disconnection.
The wire breakage position data is added to the end of the code and indicates the breakage position. Here, as the wire breakage position data, the number "1" is used to indicate that the wire breakage was first detected at the node 21.

Hereinafter, the procedure for checking the functions of the node 21 as described above using the apparatus shown in FIG. 1 will be described with reference to the flowcharts shown in FIGS. 4 to 7 and the time charts shown in FIGS. 8 to 10. and explain.

・Communication error check (see FIGS. 4 and 8)
First, the operator operates the keyboard of the personal computer 3 to start the communication error check process shown in FIG.

[0036] In response, processing for selecting the transmission memories 41 and 42 is performed (step 101), and the transmission memories 41 and 42 are selected.
, 42, the frame signal S0 shown in FIG. 11 is sequentially written. The reason why two memories 41 and 42 are prepared is that even while the data of the frame signal S0 is being written to one memory, the data of the frame signal S0 can be retrieved from the other memory. This is to prevent the transmission from being interrupted by transmitting through the transmission circuit 54. Next, it is determined whether the transmission memory 41 is in an empty state in which data of the frame signal S0 is not stored (step 10).
2). If the data is not stored, it is writable, so the process of writing the data of the frame signal S0 into the transmission memory 41 is executed (step 103). on the other hand,
If the data is stored in the transmission memory 41 and is being transmitted, a process is executed to write the data of the frame signal S0 into the transmission memory 42 (step 104). Next, when the writing is completed, the timing circuit 53 outputs a switching signal to the switching circuit 51 for transmitting data from the memory for which the writing has been completed. In response to this, for example, assuming that data writing has been completed in the transmission memory 41, the P/S conversion circuit 47, the switching circuit 51, the transmission circuit 5
A frame signal S0 is sent from node 4 to node 2 via communication line 34.
1 (step 105). Thereafter, the frame signal S0 is transmitted at every predetermined period T. Here, a frame signal S0 is transmitted which indicates that the CRC code is in a normal state in which no communication error has occurred. Next, a process is performed in which data is written in the memories 41 and 42 with the contents of the CRC code indicating that an error has occurred. When this frame signal S0 is received by the node 21, the node 21
is normal, the frame signal S
Error code ERR is added to the frame signal S1 shown in FIG. 12, which is received by the receiving circuit 55. That is, as shown in FIG. 8, the receiving circuit 55 receives a frame signal S1 to which the error code ERR is added following the previous frame signal S'1 to which the error code ERR is not added. Received. The error code detection circuit 56 detects the error code.
During this period, an error code detection signal of logic "1" level is applied to the error buffer 45. The disconnection buffer 45 detects the error code ERR in the received frame signal S1 while the error code detection signal is being input.
Store. Then, the contents of the error buffer 45 are read out (step 106), and it is determined whether or not an error has occurred, that is, the frame signal S1 to which the error code ERR has been added is
is received (step 107). Here, if the node 21 is normal, the error code ERR is read out from the error buffer 45 as described above, so "Communication error detected" is displayed on the display screen 4a of the display device 4, and the node - It is recognized that the communication error detection function of the card 21 is operating normally. On the other hand, if the communication error detection function of the node 21 is not normal, the error code ERR is not added to the current frame signal S1. Therefore, the error code detection circuit 56 does not detect the error code detection signal shown in FIG. For this reason, the error
The error code ERR is not stored in the buffer 45, and the error code ERR is not read out from the error buffer 45. Therefore, the judgment result in step 107 is NO.
``Node 21 is abnormal'' is displayed on the display screen 4a of the display device 4, and it is recognized that the communication error detection function of the node 21 is not operating normally (step 109).

- Erroneous output prevention function check (see FIG. 5) Note that prior to this process, the frame signal S0 containing error-free control data DO' was checked for no errors in the previous communication error detection function check test. It is a prerequisite that the information is sent to the card 21 in advance. At node 21, control data DO' is connected to signal line 3.
6 to the dummy I/O box 2. The control data DO' is input to the dummy input signal circuit 60 via the signal level conversion circuit 62 of the dummy I/O box 2. The control data DO' is stored in a predetermined memory via the signal line 35 and the data bus.

[0038] Subsequently, the erroneous output prevention function check process is started. In steps 201 to 204, the above step 1
Processing similar to 01 to 104 is executed. At this time, a frame signal S0 containing the erroneous control data DO is written into the transmission memories 41 and 42 (step 203,
204), frame signal S from the written memory
Processing to send 0 is performed (step 205). node 2
1, when the frame signal S0 is received, the control data DO
Error detection is performed. If the node 21 is normal, it detects an error in the control data DO and sends the previous error-free normal control data DO' that is already held via the signal line 36. Output to dummy I/O box 2. The control data DO' is input to the dummy input signal circuit 60 via the signal level conversion circuit 62 of the dummy I/O box 2. The control data DO' is stored in a predetermined memory of the personal computer 3 via the signal line 35 and the data bus (
Step 206). Here, the contents of the control data stored in the memory this time and the contents of the control data stored last time are compared to determine whether they match (step 20).
7, 208). If normal, both are the previous data DO
', so they match, so the display screen 4a of the display device 4 shows "
The error output prevention function is normal” is displayed, and the node 21
It can be recognized that the erroneous output prevention function of the computer is operating normally (step 209). On the other hand, if the node 21 is not operating normally, even if the current control data DO is an error, the node 21 will transfer the current control data DO to the dummy I/O. Output to box 2, step 20
The data compared in step 8 are the previous time (DO') and this time (DO').
) (determination result of step 208 is NO).
). As a result, "Node 2" is displayed on the display screen 4a of the display device 4.
1 is abnormal" is displayed, and it can be recognized that the erroneous output prevention function of the node 21 is not operating normally (step 210).

・Data input/output function check (see Figure 6)
Next, set the control data DO to an error-free state and frame it.
A system signal S0 is transmitted to the node 21. The contents of the control data DO transmitted at this time are stored in a predetermined memory. Here, if the node 21 is normal, when the node 21 receives the frame signal S0, the control data DO in the extracted signal is sent to the dummy I/O box 2 via the signal line 36. Output to. Control data DO is signal level conversion circuit 6
2. Dummy input signal circuit 60, data via signal line 35
input into the tabus and stored in a predetermined memory (step 301). Here, the contents of the control data DO sent from this dummy I/O box 2 are compared with the contents of the control data DO stored before transmission, and it is determined whether or not they match. is determined (step 302). As a result, if it is determined that the contents of both control data match, the output function of the control data to the actuator of the node 21 is determined to be normal (the display device 4 This may be displayed on the display screen 4a). On the other hand, if it is determined in step 302 that the contents of both control data do not match, this means that the output function of the control data to the actuator of the node 21 is not operating normally. , in this case, the display screen 4a of the display device 4
The message ``Data output error, node 21 is abnormal'' is displayed, and the abnormality in the control data output function is recognized from this display (step 304).

Next, the detection data for the sensor to be added to the frame signal S0 is sent to the dummy output signal circuit 59 of the dummy I/O box 2 via the data bus of the personal computer 3 and the signal line 35. Processing to send DI is executed. This transmitted detection data DI is also stored in a predetermined memory before being transmitted (step 305). The dummy output signal circuit 59 converts the input detection data DI into a signal level conversion circuit 61,
It is output to the node 21 via the signal line 36. From this, if the node 21 is normal, a process of adding detection data DI following the start code STI is performed, and the frame signal S1 shown in FIG. 12 is sent to the check board 1. Send to. The receiving circuit 55 of the check board 1 receives the frame signal S1, and transfers the frame signal S1 to the receiving memory 43.
, 44. Here, reception memories 43, 44
A selection is made (step 306). Transmission memory 41
, 42, the receiving memories 43 and 44 are provided.
The reason why two are provided is that the frame signal S is stored in one reception memory.
This is to allow writing to the other reception memory even while one reception data is being written, so that the reception process is not interrupted. That is, it is determined whether or not the receiving memory 43 is currently writing the received frame signal S1 (step 307). As a result, if the receiving memory 43 is currently writing, the receiving frame signal S1 is not written to the receiving memory. 44 (step 30
8). Then, a process is performed to read out the written received frame signal S1 from the received memory 43 (step 309). If it is determined in step 307 that writing to the receiving memory 43 has been completed, the writing is completed to the receiving memory 43.
4 (step 310), and reads out the received frame signal S1 written in the reception memory 44 (step 3
11). Frames read out from reception memories 43 and 44
Detection data DI is extracted from the system signal S1, and the contents of this detection data DI and the dummy I/O are extracted in step 305.
The contents of the detected data DI stored before sending to box 2 are compared to determine whether or not both detected data match (steps 312, 313). As a result, no
If the code 21 is normal, the detection data DI is normally added to the received frame signal S1 as described above, and the two match (a message to that effect is displayed on the display screen 4a of the display device 4). ). On the other hand, step 313
If it is determined that the contents of both detection data do not match, the input function of the sensor of node 21 and the function of adding data to frame signal S0 will not operate normally. In this case, the message "Data input error, node 21 is abnormal" is displayed on the display screen 4a of the display device 4, and this display indicates that the detected data input function is abnormal. is recognized (step 314).

- Disconnection detection function check (see Figures 7, 9, and 10) The above checks are performed with the transmission period of the frame signal S0 constant at T (or less). A process of stopping the transmission at a fixed period is performed (this reproduces a state in which a disconnection occurs in the communication line 34 in front of the node 21). That is, a control command to stop transmission is input to the timing circuit 53, and the timing circuit 53 outputs a reset signal R to the disconnection detection time measuring counter 58 as shown in FIG. The counter 58 resets the count value in response to the input of this reset signal R, and then resets the count value at time t.
Start timing from 0 (see arrow A; step 401)
. The node 21 measures the time from the detection time of the start code STI in the last received frame signal S0, while resetting it every time the frame signal S0 is received. Here, if the node 21 is normal, when the measured time reaches the preset disconnection detection time nT, it is assumed that a disconnection has occurred and a disconnection signal SB shown in FIG. 9 is sent to the check board 1. The disconnection signal SB is received by the receiving circuit 55, the disconnection code detection circuit 57 detects the disconnection code of the disconnection signal SB, and after the detected time t1, the disconnection position data following the disconnection code is detected. While being detected, a disconnection position data detection signal of logic "1" level is output to the disconnection buffer 46. While the wire breakage position data detection signal is being inputted to the wire breakage buffer 46, processing for storing the wire breakage position data included in the received wire breakage signal SB is performed (see FIG. 9). Further, at time t1 when the disconnection code detection circuit 57 detects a disconnection code, a count end signal E is output to the disconnection detection time measuring counter 58. The counter 58 ends timekeeping in response to the input of the count end signal E. Thereafter, the count value is held while the disconnection position data detection signal is being input (see FIG. 10). Then, the disconnection position data stored in the disconnection buffer 46 is read out (step 402).
.

Here, if the node 21 is normal, the node 21 sends the disconnection signal SB containing the number "1" as the disconnection position data, so that the disconnection buffer 46 outputs the disconnection signal SB of the node 21. The contents of "1" indicating the disconnection position can be read. Then, it is determined whether the data read out from the buffer 46 is number "1" (step 40).
3, 404). As a result, if the data read from the buffer 46 is not numbered "1", it is assumed that the disconnection position data generating function of the node 21 is not normal, and the display screen 4a of the display device 4 displays "Disconnection". A message such as "Number abnormal, node 21 is abnormal" is displayed (step 405).

Next, the counter value held in the wire breakage detection time measuring counter 58 is read out (step 406), and this counter value is compared with a preset wire breakage detection time nT to determine if the times match. It is determined whether or not (step 407). If the node 21 is normal, it is determined in step 407 that the two match, and the preset disconnection detection time n in the node 21 is determined.
When T has elapsed, it is assumed that the function of sending the disconnection signal SB is normal, and the process ends. Meanwhile, step 40
If it is determined in step 7 that the two do not match, node 21
The disconnection signal S is generated at the preset disconnection detection time.
Assuming that B is not sent, the display screen 4 of the display device 4
The message ``Disconnection detection time setting is abnormal, node 21 is abnormal'' is displayed on a. From this, the node 21 can recognize that there is an abnormality in which disconnection detection is not performed within the set time (step 409).

As explained above, according to the embodiment, since the function check of the node 21 is performed only on the personal computer 3 side, the function check test can be easily performed.

Furthermore, according to the embodiment, it is possible to accurately check that there has actually been input/output of detection data and control data at the node 21, so that erroneous output prevention in 2) can be prevented. Functions and 3) data input/output functions can be completely checked.

Furthermore, according to the embodiment, since the time from when frame signal transmission is stopped to when a disconnection signal is input is accurately measured, the disconnection detection function in 4) can be checked with high accuracy. be able to.

[0047]

As explained above, according to the present invention, each function of a node controller in a series control device can be checked by only operating one device.
Checks can be performed easily and in a short time, and each function of the node can be checked accurately and completely.

[Brief explanation of the drawing]

FIG. 1 is a perspective view showing the appearance of an embodiment of a node check device for a serial control device according to the present invention.

FIG. 2 is a circuit diagram showing the configuration of the check board shown in FIG. 1;

FIG. 3 is a circuit diagram showing the configuration of the dummy I/O box shown in FIG. 1.

FIG. 4 is a flowchart showing a communication error check processing procedure according to the embodiment.

FIG. 5 is a flowchart showing the processing procedure for checking the function for preventing erroneous output according to the embodiment.

FIG. 6 is a flowchart showing a processing procedure for checking data input/output according to the embodiment.

FIG. 7 is a flowchart showing the processing procedure for checking the disconnection detection function in the embodiment.

FIG. 8 is a time chart used to explain the process of FIG. 4;

FIG. 9 is a time chart used to explain the process of FIG. 7;

FIG. 10 is a time chart used to explain the process of FIG. 7;

FIG. 11 is a diagram showing a protocol of a data frame signal that is supposed to be transmitted from the check board of FIG. 1 to a node.

FIG. 12 is a diagram showing a protocol of a data frame signal that is sent from the node in FIG. 1 to a check board.

FIG. 13 is a diagram illustrating a connection mode of a series control device.

FIG. 14 is a diagram conceptually showing the configuration of a conventional node check device.

[Explanation of symbols]

1 Check board 2 Dummy I/O box 3　　　　PC body 4 Display device 10 Main controller 21 Node controller 34 Communication line 35 Signal line 36 Signal line

Claims (8)

[Claims] Claim 1: By connecting a plurality of nodes and a main controller in series via signal lines, a predetermined data frame signal given from the main controller to the plurality of nodes can be transmitted. One-way transmission is performed via the signal line at a predetermined period, and each of the plurality of nodes detects a data error in the received data frame signal to determine if an error has occurred. Serial control equipped with an error check function that sometimes converts an error code portion indicating the occurrence of an error in the data frame signal into an error code corresponding to the error that has occurred and sends it out. In the device,
sending means for sending out a data frame signal including data that causes the data error; and sending means for receiving the data frame signal sent from the node and transmitting the received data frame. - Error code that detects the error code included in the system signal.
a code detection means; and a signal indicating that the node is abnormal when an error code corresponding to the generated data error is not detected by the error code detection means. and a pseudo main controller having output means, and the pseudo main controller is connected to each of the plurality of nodes to check the error checking function of each of the plurality of nodes. Node check device for serial control equipment. 2. By connecting a plurality of nodes and a main controller in series via signal lines, a predetermined data frame signal given from the main controller to the plurality of nodes can be transmitted. One-way transmission is performed via the signal line at a predetermined period, and each of the plurality of nodes detects a data error in the received data frame signal to determine if an error has occurred. Serial control equipped with an error check function that sometimes converts an error code portion indicating the occurrence of an error in the data frame signal into an error code corresponding to the error that has occurred and sends it out. In the device node check method, a data frame signal that causes a data error is intentionally sent to the node, and the received data
1. A method for checking a node in a serial control device, wherein the error checking function of the node is checked by determining an error code in a data frame signal. 3. By serially connecting a plurality of nodes to which one or more actuators are connected to the main controller via a signal line, the main controller can provide a signal to the actuator. A data frame signal including control data is unidirectionally transmitted via the signal line at a predetermined period, and each of the plurality of nodes transmits data included in the received data frame signal. A data update function is provided that does not update the buffer circuit that applies control data to the actuator with the current control data when an error occurs in the control data. Error-free control data in serial control equipment
a transmitting means for sequentially transmitting a data frame signal containing data and a data frame signal containing control data that causes an error; 1 signal line, a second signal line connected to the output terminal of the buffer circuit of the node, a receiving memory receiving the output of the buffer circuit from the second signal line, and a receiving memory connected to the output terminal of the buffer circuit of the node. a pseudo main controller having inspection means for inspecting the data update function by determining the data contents, and the pseudo main controller updates data of each of the plurality of nodes individually A node check device for a serial control device designed to check functionality. 4. A main controller is connected in series with a plurality of nodes to which one or more actuators are connected via a signal line, so that a signal can be supplied from the main controller to the actuator. A data frame signal including control data is unidirectionally transmitted via the signal line at a predetermined period, and each of the plurality of nodes transmits data included in the received data frame signal. A data update function is provided that does not update the buffer circuit that applies control data to the actuator with the current control data when an error occurs in the control data. In the node check method of the serial control device, an error was detected.
A data frame signal containing control data that does not cause an error and a data frame signal containing control data that causes an error are sequentially sent out, and the output of the buffer circuit is determined. A method for checking a node in a serial control device by checking the data update function of a node. Claim 5: One or more sensors and one
By connecting a plurality of nodes to which a plurality of actuators are respectively connected and a main controller in series via signal lines, control data given from the main controller to the actuators can be transmitted. The data frame signal included in the received data frame signal is unidirectionally transmitted via the signal line at a predetermined period, and each of the plurality of nodes transmits the control data included in the received data frame signal. The actuator
The detection data detected by the sensor is also output to the sensor.
In the serial control device, the serial control device is provided with a data input/output function for inputting a data frame signal, adding the detected input data to the data frame signal, and transmitting the data. - Connect a pseudo input/output device as a substitute for the controller, and connect each node to which this pseudo input/output device is connected to the pseudo main controller as a substitute for the main controller via a signal line. While connected in series, the pseudo main controller sends the detected data to the pseudo input/output device and sends out a data frame signal including the control data via the signal line. and the detection data sent out by the sending means.
and storage means for storing the control data,
The pseudo input/output device outputs the detection data sent by the sending means to the node, and also outputs the detection data sent by the sending means to the node.
means for sending control data input from the pseudo main controller to the pseudo main controller;
The controller receives the data frame signal sent from the node and determines whether the detected data included in the received data frame signal is the detected data stored in the storage means. If they do not match, a signal indicating that the node is abnormal is output, and the control data sent from the pseudo input/output device is matched with the control data stored in the storage means. The node of the serial control device further comprises means for outputting a signal indicating that the node is abnormal when the node does not match, and the data input/output function of each of the plurality of nodes is inspected. -Do check device. [Claim 6] One or more sensors and one
By connecting a plurality of nodes to which a plurality of actuators are respectively connected and a main controller in series via signal lines, control data given from the main controller to the actuators can be transmitted. The data frame signal included in the received data frame signal is unidirectionally transmitted via the signal line at a predetermined period, and each of the plurality of nodes transmits the control data included in the received data frame signal. The actuator
The detection data detected by the sensor is also output to the sensor.
In the node check method for a serial control device, the serial control device is provided with a data input/output function of inputting a data frame signal, adding the detected input data to the data frame signal, and transmitting the data. A pseudo input/output device as a substitute for the sensor and actuator is connected to the node, and each node connected to this pseudo input/output device and a pseudo main controller as a substitute for the main controller are connected to each node. are connected in series via a signal line, the detected data is sent from the pseudo main controller to the pseudo input/output device, and a data frame signal including the control data is sent to the node. −
a step of sending the sent detection data and control data to the node; a step of storing the sent detection data and control data; and outputting the sent detection data from the pseudo input/output device to the node;
a process of sending control data input from the node to the pseudo main controller; and receiving a data frame signal sent from the node at the pseudo main controller. , outputting a signal indicating that the node is abnormal if the detection data included in the received data frame signal does not match the stored detection data; a step of outputting a signal indicating that the node is abnormal when the control data sent from the pseudo input/output device does not match the stored control data; - A node check method for a serial control device that checks the data input/output function of a node. 7. By connecting a plurality of nodes and a main controller in series via signal lines, a predetermined data frame signal given from the main controller to the plurality of nodes can be transmitted. One-way transmission is performed via the signal line at a predetermined period, and each of the plurality of nodes detects a preset disconnection when the data frame signal is not detected for a preset disconnection detection time. location data
In the serial control device including a data frame signal, the serial control device is equipped with a disconnection detection function that sends out a disconnection signal indicating the occurrence of a disconnection, and includes a transmission stop means for stopping transmission of the data frame signal, and a transmission stop means for stopping transmission by the transmission stop means. a timer means for measuring the time from the time to when the disconnection signal is received, and detecting an abnormality in the node based on a comparison between the count value of the timer means and the preset disconnection detection time; a pseudo main controller having detection means for detecting an abnormality in the node by determining wire breakage position data included in the wire breakage signal, and the pseudo main controller is connected to the plurality of nodes. - A node check device for a series control device, which is connected to each node to check the disconnection detection function of each of the plurality of nodes. 8. By connecting a plurality of nodes and a main controller in series via signal lines, a predetermined data frame signal given from the main controller to the plurality of nodes can be transmitted. One-way transmission is performed via the signal line at a predetermined period, and each of the plurality of nodes detects a preset disconnection when the data frame signal is not detected for a preset disconnection detection time. location data
In the node check method for a serial control device including a data frame signal, which is equipped with a disconnection detection function that sends a disconnection signal indicating the occurrence of a disconnection, the transmission of the data frame signal is stopped, and the A time period until the disconnection signal is received is detected, and an abnormality of the node is detected based on a comparison between the measured value and the preset disconnection detection time, and the time period is determined to be included in the received disconnection signal. A node check method for a serial control device, wherein an abnormality in the node is detected by determining wire breakage position data, and a wire breakage detection function of the node is tested.