WO2015045004A1 - プログラマブルコントローラおよびプログラマブルコントローラの制御方法 - Google Patents
プログラマブルコントローラおよびプログラマブルコントローラの制御方法 Download PDFInfo
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- WO2015045004A1 WO2015045004A1 PCT/JP2013/075716 JP2013075716W WO2015045004A1 WO 2015045004 A1 WO2015045004 A1 WO 2015045004A1 JP 2013075716 W JP2013075716 W JP 2013075716W WO 2015045004 A1 WO2015045004 A1 WO 2015045004A1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/054—Input/output
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/056—Programming the PLC
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/21—Pc I-O input output
- G05B2219/21053—Each unit, module has unique identification code, set during manufacturing, fMAC address
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25296—Identification module, type connected I-O, device
Definitions
- the present invention relates to a programmable controller and a programmable controller control method that facilitates the construction and operation of an automatic machine by automatically giving a device driver necessary for operation to a device connected to a network.
- a controller such as a programmable logic controller (PLC) or a motion controller is used.
- PLC programmable logic controller
- Industrial automatic machines such as machine tools and industrial robots used in the FA (Factor Automation) field
- Autonomous robots and general-purpose automatic machines such as various automatic equipment
- controllers are connected to various input devices such as sensors and switches that input signals to the controller.
- various output devices such as a motor and a display controlled by a controller are connected.
- the controller is also equipped with a program that describes commands (instructions) to these input / output devices.
- the automatic machine operates when a command (instruction) described in the program is transmitted to the input / output device.
- the above input / output device is connected to the input / output connector (ie, input / output port) of the controller.
- the program creator needs to accurately grasp which (and what number) input / output port of the controller is connected to which type of input / output device.
- the software modules and operation programs used on the controller were accurately set. Otherwise, the controller cannot send the appropriate command (instruction) to the device and control it correctly.
- the software module related to the device includes, for example, a device driver.
- a programmable controller and various devices are connected to each other, and a device driver for controlling them is a programmable controller. And need to be applied to various devices. Therefore, workers from the connection of various devices to settings of various devices and programmable controllers, restarting when trouble occurs, are carried out by workers at the operation site of the automatic machine system, but as more devices connect, The work cost required for start-up and restarting when a problem occurs increases.
- a plug-and-play function which is a mechanism that allows a user to use a connected device typified by USB or IEEE1394 without making any special settings, as a method for reducing the work cost when constructing a system.
- An invention used for a programmable controller has been devised.
- a GUID Global Unique Identifier
- a GUID is an identifier that can uniquely identify a device in the world without duplication. In Patent Document 1, it is specified by collecting the GUID of the connected device.
- a technology for automatically linking and using software modules necessary for a device and a device driver that is a group of device parameters and setting information is disclosed.
- Patent Document 1 determination of a software module to be used when a plurality of software modules described above can be provided to a specific device is performed manually using a GUI.
- a GUI graphical user interface
- the operation by the user is assumed. For this reason, there is a problem that the cost until operation increases as the system scale increases.
- the present invention has been made in view of the above, and even when there are a plurality of software module candidates for specifying a device driver to be linked, the device driver can be automatically linked, and the plug and play of the connected device can be performed. It aims at obtaining the programmable controller which implement
- the present invention provides a programmable controller connected to a device to be controlled via a network, the device identifier and the device via the network.
- a controller that requests the device to notify mode information that defines the function and operation method used by the device, and stores the identifier and the mode information that the device has notified via the network in response to the request.
- a storage unit that stores the identifier and the mode information that the device has notified via the network in response to the request.
- the programmable controller according to the present invention has an effect that the device can be used simply by connecting with the plug and play function, the user can easily construct the system, and the cost required for system operation can be reduced.
- FIG. 1 is a diagram showing a configuration of a system in which various devices to be controlled and a database server are connected to a programmable controller according to an embodiment of the present invention via a network.
- FIG. 2 is a flowchart showing a processing flow until a connected device can be used by the plug and play function in the embodiment of the present invention.
- FIG. 3 is a flowchart showing the flow of processing of the plug and play function after the programmable controller is connected to the network in the embodiment of the present invention.
- FIG. 4 is a diagram showing a detailed configuration of the programmable controller according to the embodiment of the present invention.
- FIG. 5 is a diagram showing an example of a specific configuration of the system according to the embodiment of the present invention.
- FIG. 1 shows a basic configuration in which a programmable controller 10 and devices 21, 22, and 23 which are various devices controlled by the programmable controller 10 are connected by a network 30 as a configuration of an automatic machine according to an embodiment of the present invention. It is a figure which shows a structure.
- the devices 21, 22, and 23 are, for example, sensors, vision sensors, robots, servo motors, inverters, and the like.
- a programmable controller 10 is a programmable controller that is the center of control of an automatic machine.
- Devices 21, 22, and 23 are various devices that operate as system elements under the control of the programmable controller 10.
- the network 30 is a network 30 serving as a communication medium between the programmable controller 10 and the devices 21, 22, and 23 that are various devices to be controlled.
- the database server 40 is connected to the programmable controller 10 and the devices 21, 22, and 23 via the network 30, and the devices 21, 22, and 23, which are various devices, and device driver data corresponding to them are stored. It has a database server.
- FIG. 1 is a simplified diagram showing an example of a specific configuration of the system shown in FIG.
- a hub 31 exists at the center of the network 30.
- FIG. 5 shows a state in which the devices 21, 22, and 23 are not yet connected to the network 30, but
- FIG. 1 shows the state after all the devices 21, 22, and 23 in FIG. 5 are connected. The configuration is shown.
- FIG. 4 is a diagram showing a detailed configuration of the programmable controller 10.
- the programmable controller 10 includes a communication controller 60, a file system controller 61, a program execution unit 62, a link memory 50, a program memory 51, a control unit 70, and a storage unit 71.
- the functions of the communication controller 60, the file system controller 61, the program execution unit 62, and the control unit 70 may be realized by the same CPU.
- FIG. 2 is a flowchart showing a flow of processing of the programmable controller 10 from notification of the GUID that is an identifier and mode information that defines the function and operation method used by the device until the device is made available. is there.
- the devices 21, 22, and 23 connected to the network 30 notify the programmable controller 10 of the GUID and mode information that are identifiers. Then, the programmable controller 10 stores the GUID and the mode information, which are the notified identifiers, in order to specify the setting for making the device usable and the device driver that is a group of one or more software modules. It memorize
- the programmable controller 10 uniquely acquires a device driver from the database server 40 based on the GUID and the mode information that are notified identifiers stored in the storage unit 71 (step S2).
- the database server 40 holds device driver data corresponding to various devices, and each device driver further includes one or more software modules for controlling the connected devices.
- the programmable controller 10 can uniquely identify a software module based on mode information that defines functions and operation methods used by devices connected to the network 30 from software modules included in each device driver. It is. This eliminates the need for manual operations that have been required in the past from the connection of the device to the availability of the device.
- the software module included in the acquired device driver and selected based on the mode information is stored in the program memory 51. Further, a control I / O memory area is allocated to the link memory 50 in the programmable controller 10 for each software module stored in the program memory 51. As a result, the software modules corresponding to the devices 21, 22, and 23 are set to be executable on the programmable controller 10 (step S3). Note that since a plurality of functions can be executed depending on the device, it is necessary to provide a plurality of software modules because software modules suitable for execution in the programmable controller 10 differ depending on the functions used. That is, there may be a plurality of software modules stored in the program memory 51 for one device. Even in such a case, each I / O memory area is allocated in the link memory 50 corresponding to each software module.
- step S4 If the setting information necessary for the devices 21, 22, and 23 such as device parameters exists in the device driver, it is transferred to the devices 21, 22, and 23 via the network 30, and the connected devices 21, 22, and 22 are transferred. And 23 are available (step S4). That is, plug and play of the devices 21, 22, and 23 is realized.
- the devices 21, 22, and 23 have a state of a link completion state as a state in which the device drivers are linked. When the devices 21, 22, and 23 are not in the link completion state, when their connection to the network 30 is detected or when a notification request is received from the programmable controller 10, notification of their GUID and mode information To implement.
- the devices 21, 22, and 23 stop the notification of their GUID and mode information via the network 30 at the time when the link is completed, and the notification is received even when the notification request from the programmable controller 10 is received. Not implemented.
- FIG. 3 is a flowchart showing a process flow of the plug and play function after the programmable controller 10 is connected to the network 30.
- step S11 When the programmable controller 10 detects that it is connected to the network 30, the controller 70 moves to all devices connected to it via the network 30, in the example of FIG. 1, to the devices 21, 22, and 23. A notification request is transmitted (FIG. 3, step S11).
- step S12 it is determined whether or not notifications from one or more devices have been received.
- step S12 Yes
- a series of processing shown in the flowchart of FIG. 2 is performed in order to make the notified devices available (step S13).
- step S12 If the notification from the device cannot be received (step S12: No), the process goes to standby and returns to step S12.
- step S13 it is determined whether or not all the notified devices can be used (step S14). Until all the notified devices are available (step S14: No), step S13 (procedure of FIG. 2) is repeated for all the notified devices.
- step S14 Yes
- the process returns to step S11 and is programmable.
- the control unit 70 of the controller 10 controls the communication controller 60 to retransmit the notification request to the device via the network 30.
- step S14 the programmable controller 10 transmits a notification request to the devices again via the network 30 (step S11). This makes it possible to detect device connection even when there are many situations where many devices are connected, or when receiving notifications from other devices fails.
- the load on the network 30 may be distributed by shifting the timing of notification of the GUID and mode information that are identifiers from the device.
- an I / O memory file having I / O information for controlling the device as the contents of the file is allocated to the link memory 50 which is a dedicated memory area for each device.
- the link memory 50 is managed by a file system that can be used for general purposes, and manages the I / O memory file in file units via the file system controller 61.
- an I / O memory file having the I / O memory as a file content is created on the link memory 50 in the programmable controller 10 (FIG. 2, step S3).
- the software module operating on the programmable controller 10 included in the device driver acquired from the database server 40 in step S2 of FIG. 2 and the I / O memory file are linked and used as control information.
- the control unit 70 controls as described above.
- the control unit 70 controls the program execution unit 62 to refer to and change the I / O memory file via the file system controller 61.
- the file name of the I / O memory file created in step S3 in FIG. 2 is a unique file name determined based on the GUID of the device to which the I / O memory is allocated.
- the memory allocated to the device connected to the automatic machine system increases in management cost as the system scale increases. Therefore, by managing the I / O memory as a file as in the present embodiment, the link I / O memory is managed. This makes it easier to manage / O memory.
- the program execution unit 62 refers to the data of the I / O memory file (device 21) allocated via the file system controller 61. After the execution of the software module for controlling the device 21 (device 21) is completed, if a change request to the I / O memory file (device 21) has occurred, the contents are written back via the file system controller 61. . Note that the program execution unit 62 may execute a software module for controlling the device, for example, using communication from the device as a trigger.
- mode information specifying the function and operation method used by the device is provided in the information collected from the device, and combined with the GUID collect.
- the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the scope of the invention in the implementation stage.
- the above embodiments include inventions at various stages, and various inventions can be extracted by appropriately combining a plurality of disclosed constituent requirements. For example, even if some constituent requirements are deleted from all the constituent requirements shown in the embodiment, the problem described in the column of the problem to be solved by the invention can be solved, and is described in the column of the effect of the invention. When an effect is obtained, a configuration from which this configuration requirement is deleted can be extracted as an invention.
- the constituent elements over different embodiments may be appropriately combined.
- the programmable controller according to the present invention is useful for a programmable controller having a plug-and-play function suitable for system construction, and is particularly suitable for construction of an automatic machine system.
Abstract
Description
・FA(Factory Automation)分野で用いられる工作機械
・産業用ロボットなどの産業用自動機
・自律ロボット
・各種自動設備などの一般用途の自動機
図1は、本発明の実施の形態における自動機の構成として、プログラマブルコントローラ10とプログラマブルコントローラ10によって制御される各種デバイスであるデバイス21,22,および23がネットワーク30によって接続されている基本的な構成を示す図である。デバイス21,22,および23とは、具体的には、例えば、センサ、ビジョンセンサ、ロボット、サーボモータ、インバータ、などである。
Claims (7)
- 制御対象となるデバイスとネットワークを介して接続されるプログラマブルコントローラであって、
前記ネットワークを介して、前記デバイスの識別子並びに当該デバイスが利用する機能及び動作方法を規定するモード情報を通知するように当該デバイスに要求する制御部と、
前記要求に応じて前記デバイスが前記ネットワークを介して通知してきた前記識別子及び前記モード情報を記憶する記憶部と、
を備える
ことを特徴とするプログラマブルコントローラ。 - 前記識別子及び前記モード情報に基づいて、データベースサーバから取得したデバイスドライバに含まれる前記デバイスを制御する1つ以上のソフトウェアモジュールを保持するプログラムメモリを備える
ことを特徴とする請求項1に記載のプログラマブルコントローラ。 - 前記デバイスを制御するためのI/O情報が記載されるI/Oメモリファイルを保持するリンクメモリを備え、
前記リンクメモリに前記ソフトウェアモジュールに対応する前記I/Oメモリファイルを保持するためのI/Oメモリ領域を割り付ける
ことを特徴とする請求項2に記載のプログラマブルコントローラ。 - 前記I/Oメモリファイルを管理するファイルシステムコントローラと、
前記ソフトウェアモジュールの実行時には、前記ファイルシステムコントローラを介して前記I/Oメモリファイルを参照及び変更するプログラム実行部と、
を備える
ことを特徴とする請求項3に記載のプログラマブルコントローラ。 - 前記プログラム実行部は、前記デバイスからの通信をトリガとして前記ソフトウェアモジュールを実行する
ことを特徴とする請求項4に記載のプログラマブルコントローラ。 - プログラマブルコントローラに接続されているデバイスに対して、前記デバイスの識別子並びに当該デバイスが利用する機能及び動作方法を規定するモード情報を通知するように要求するステップと、
前記要求に応じて前記デバイスが通知してきた前記識別子及び前記モード情報を記憶するステップと、
前記識別子及び前記モード情報に基づいて、前記プログラマブルコントローラに接続されたデータベースサーバからデバイスドライバに含まれる前記デバイスを制御する1つ以上のソフトウェアモジュールを取得するステップと、
前記ソフトウェアモジュールに対応して前記デバイスを制御するためのI/O情報を記憶する領域を確保するステップと、
前記ソフトウェアモジュールの実行時には、前記I/Oメモリ情報を参照及び変更するステップと、
を備える
ことを特徴とするプログラマブルコントローラの制御方法。 - 前記I/O情報を記憶する領域を確保するステップの後に、前記プログラマブルコントローラに接続されているデバイスに対して、前記デバイスの識別子並びに当該デバイスが利用する機能及び動作方法を規定するモード情報を通知するように要求するステップをさらに備える
ことを特徴とする請求項6に記載のプログラマブルコントローラの制御方法。
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KR1020167006499A KR101655727B1 (ko) | 2013-09-24 | 2013-09-24 | 프로그래머블 컨트롤러 및 프로그래머블 컨트롤러의 제어 방법 |
PCT/JP2013/075716 WO2015045004A1 (ja) | 2013-09-24 | 2013-09-24 | プログラマブルコントローラおよびプログラマブルコントローラの制御方法 |
CN201380079753.XA CN105579920B (zh) | 2013-09-24 | 2013-09-24 | 可编程控制器以及可编程控制器的控制方法 |
US14/910,713 US10054926B2 (en) | 2013-09-24 | 2013-09-24 | Programmable controller and control method of programmable controller |
EP13894543.1A EP3012700B1 (en) | 2013-09-24 | 2013-09-24 | Programmable controller and control method for programmable controller |
JP2015538657A JP5921781B2 (ja) | 2013-09-24 | 2013-09-24 | プログラマブルコントローラおよびプログラマブルコントローラの制御方法 |
TW103101563A TWI550372B (zh) | 2013-09-24 | 2014-01-16 | 可程式控制器及可程式控制器之控制方法 |
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BR112013008053B1 (pt) * | 2011-04-01 | 2021-01-26 | Siemens Aktiengesellschaft | controlador lógico programável e método para operar um controlador lógico programável |
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- 2013-09-24 EP EP13894543.1A patent/EP3012700B1/en active Active
- 2013-09-24 CN CN201380079753.XA patent/CN105579920B/zh not_active Expired - Fee Related
- 2013-09-24 KR KR1020167006499A patent/KR101655727B1/ko active IP Right Grant
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- 2013-09-24 US US14/910,713 patent/US10054926B2/en active Active
- 2013-09-24 JP JP2015538657A patent/JP5921781B2/ja active Active
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JP2002007299A (ja) | 2000-06-21 | 2002-01-11 | Mitsubishi Electric Corp | デバイス制御プログラム開発手段及び実行手段 |
JP2002269024A (ja) * | 2001-03-14 | 2002-09-20 | Omron Corp | 制御機器並びに拡張ボード及び通信ユニット |
JP2009145970A (ja) * | 2007-12-11 | 2009-07-02 | Canon Inc | ドライバ管理装置、ドライバ管理方法、及びコンピュータプログラム |
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2019159761A (ja) * | 2018-03-13 | 2019-09-19 | ファナック株式会社 | 数値制御装置 |
US10878672B2 (en) | 2018-03-13 | 2020-12-29 | Fanuc Corporation | Numerical controller |
Also Published As
Publication number | Publication date |
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CN105579920A (zh) | 2016-05-11 |
JPWO2015045004A1 (ja) | 2017-03-02 |
TWI550372B (zh) | 2016-09-21 |
TW201512795A (zh) | 2015-04-01 |
JP5921781B2 (ja) | 2016-05-24 |
US20160209823A1 (en) | 2016-07-21 |
CN105579920B (zh) | 2018-04-17 |
EP3012700A1 (en) | 2016-04-27 |
EP3012700B1 (en) | 2019-01-02 |
KR20160032275A (ko) | 2016-03-23 |
EP3012700A4 (en) | 2016-12-07 |
US10054926B2 (en) | 2018-08-21 |
KR101655727B1 (ko) | 2016-09-07 |
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