WO2015162763A1 - Système de réseau - Google Patents

Système de réseau Download PDF

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Publication number
WO2015162763A1
WO2015162763A1 PCT/JP2014/061600 JP2014061600W WO2015162763A1 WO 2015162763 A1 WO2015162763 A1 WO 2015162763A1 JP 2014061600 W JP2014061600 W JP 2014061600W WO 2015162763 A1 WO2015162763 A1 WO 2015162763A1
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WO
WIPO (PCT)
Prior art keywords
synchronization
network
unit
frame
delay
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PCT/JP2014/061600
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English (en)
Japanese (ja)
Inventor
智史 荒川
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三菱電機株式会社
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Priority to PCT/JP2014/061600 priority Critical patent/WO2015162763A1/fr
Publication of WO2015162763A1 publication Critical patent/WO2015162763A1/fr

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L7/00—Arrangements for synchronising receiver with transmitter

Definitions

  • the present invention relates to a network system.
  • the motion controller and the plurality of axes controlled by the motion controller are Need to be synchronized with each other during operation.
  • the same storage command is input from multiple motion controllers, and the servo position command or servo torque command of multiple servo drives is created gradually and sent to multiple servo drives.
  • a network system in which one motion controller and a plurality of servo drives are connected via a servo network will be described.
  • a network having a synchronous communication function for transmitting a fixed number of data at a preset cycle such as IEC 61491 or IEEE 1394, is used, and the motion controller periodically and the same to a plurality of servo drives.
  • Motion command data is transmitted at the timing.
  • a network having such a synchronous communication function is also provided with a function for generating a start interrupt at each cycle to each node connected to the network, and using this start interrupt function, the servo control processing in each servo drive is periodically performed.
  • synchronization between the motion controller and a plurality of controlled axes is realized.
  • a motion control system including a motion controller and a plurality of servo drives
  • the motion controller and the plurality of servo drives are connected by a high-speed serial bus or serial communication that does not have a synchronous communication function. Transmits a motion command such as a position command and a timer clear request to a timer in the servo drive from the controller to multiple servo drives, and outputs an activation timer to the motion controller at each set time and an interval timer interrupt output.
  • a delay timer that outputs a start interrupt that is delayed for a set time from the start timer, and starts a process that outputs a motion command to the servo drive by the start interrupt from the interval timer.
  • the technique disclosed in Patent Document 2 has a problem that the accuracy of a synchronization protocol for synchronizing the time between devices decreases due to fluctuations in network delay in a network.
  • the timing frame with a network delay that is significantly higher than the average causes the time to be synchronized to be shifted unnecessarily.
  • the delay variation (synchronization jitter) is removed from the time synchronization of the network.
  • an adjustable threshold value balances the quality of delay measurement in terms of delay variation with respect to the number of delay measurements sufficient to maintain temporal synchronization. It can be taken.
  • the present invention has been made in view of the above, and an object thereof is to obtain a network system capable of sufficiently reducing frame jitter.
  • the present invention provides a plurality of connected network units, one or a plurality of synchronization targets connected to each of the plurality of network units, A synchronization master connected to any one of the network units, wherein the synchronization master outputs a synchronization pulse to the network unit at a set time to measure a delay time;
  • the network unit receives a network packet including a frame from the synchronization master or another network unit, analyzes the frame, and if the frame is a synchronization frame, buffers the synchronization frame to delay a repeat timing. To the next network unit , And executes the processing program at the timing of the synchronizing pulse received from the network unit.
  • the network system according to the present invention has an effect that the jitter of the frame can be sufficiently reduced.
  • FIG. 1 is a diagram illustrating a configuration of a network system according to an embodiment.
  • FIG. 2 is a diagram illustrating a configuration of a first network unit of the network system according to the embodiment.
  • FIG. 3 is a diagram for explaining an actual operation example when sending a synchronization frame in the network system according to the embodiment.
  • FIG. 4 is a diagram for explaining a part of an actual operation example when sending a synchronization frame in the network system according to the embodiment.
  • FIG. 5 is a diagram for explaining a comparative example when sending a synchronization frame in the network system according to the embodiment.
  • FIG. 1 is a diagram showing a configuration of an embodiment of a network system according to the present invention.
  • a synchronization master 100 and a first network unit 111 are connected via a network 110.
  • the first network unit 111 and the second network unit 112 are connected via the network 110a
  • the second network unit 112 and the third network unit 113 are connected via the network 110b
  • the third network unit 113 is connected.
  • the fourth network unit 114 are connected via a network 110c.
  • first network unit 111 and the first synchronization target 121 are connected via the system bus 131
  • second network unit 112 and the second synchronization target 122 are connected via the system bus 132
  • third The network unit 113 and the third synchronization target 123 are connected via the system bus 133
  • fourth network unit 114 and the fourth synchronization target 124 are connected via the system bus 134.
  • four networks and four synchronization targets are shown.
  • the number of networks and the number of synchronization targets are not limited. Further, there may be one or more synchronization targets connected to one network unit.
  • the synchronization master 100 includes an interval timer 150, a communication delay measuring unit 151, and a communication interface unit 152.
  • the synchronization master 100 has a function as a synchronization master included in a general motion controller.
  • the communication interface unit 152 transmits and receives frames to and from the network 110.
  • the communication interface unit 152 may be a system bus such as a serial bus or a parallel bus instead of the communication interface.
  • the interval timer 150 outputs a synchronization pulse to a synchronization target connected via each system bus every set time.
  • the communication delay measuring unit 151 measures a time (delay time) from when the synchronization master 100 outputs the synchronization frame to the network 110 until it is input to the network unit to which the synchronization target is connected.
  • the method by which the communication delay measuring unit 151 measures the delay time is not particularly limited.
  • the delay time may be measured using a standard such as IEEE 1588.
  • the communication delay measuring unit 151 sets the synchronization pulse output value of each network unit based on the measured delay time.
  • FIG. 2 is a diagram showing the configuration of the first network unit 111.
  • the first network unit 111 shown in FIG. 2 includes a frame delay unit 200, a repeat timing control unit 201, a transmission port 202, a reception port 203, a synchronization frame reception unit 204, a window unit 205, and a delay counter unit. 206, a synchronization pulse output unit 207, and a system bus interface unit 209. Further, the first network unit 111 has functions such as a microcomputer, a memory, and a clock included in a general network unit. Although the first network unit 111 is described as an example here, the second network unit 112, the third network unit 113, and the fourth network unit 114 have the same configuration.
  • the first network unit 111, the second network unit 112, the third network unit 113, and the fourth network unit 114 are periodically transmitted through the networks 110, 110a, 110b, and 110c (for example, Ethernet (registered trademark)). Communicate with other network units.
  • networks 110, 110a, 110b, and 110c for example, Ethernet (registered trademark)
  • the synchronization function which the 1st network unit 111, the 2nd network unit 112, the 3rd network unit 113, and the 4th network unit 114 have are provided with another communication function. May be.
  • These network units may be network repeaters such as a switching hub or a router.
  • the synchronization frame output by the synchronization master 100 is a frame that specifies the synchronization timing of the entire system.
  • the synchronization frame is sent by the synchronization master 100 via the networks 110, 110a, 110b, and 110c at regular intervals through the first network unit 111, the second network unit 112, the third network unit 113, and the fourth network unit 114. Send to.
  • the format of the synchronization frame is not limited. For example, flag information indicating whether the frame is a 1-bit synchronization frame is added to the Ethernet (registered trademark) header or the data area, and the arrival timing of the synchronization frame is determined. You can synchronize based on.
  • the frame delay unit 200 analyzes the frame transferred from the reception port 203.
  • the synchronization frame is buffered by the timing specified by the repeat timing control unit 201, which is the synchronization timing control unit, and repeat timing (the timing for relaying and transmitting is the same hereinafter).
  • the synchronization frame is transferred to the transmission port 202. If the frame transferred from the reception port 203 is not a synchronization frame, it is transferred to the transmission port 202 as it is. However, if there is a synchronization frame that has arrived first, this frame is not overtaken and the frame waits.
  • the repeat timing control unit 201 notifies the frame delay unit 200 of the worst value of the expected arrival time of the synchronization frame (the timing at which the arrival of the synchronization frame is slowest in one cycle).
  • the worst value of the expected arrival time may be received from the window unit 205, may be a set fixed value, or may be the worst arrival time calculated by statistics.
  • the transmission port 202 transmits a frame to the network 110a
  • the reception port 203 is a transmission / reception interface that receives the frame from the network 110.
  • the transmission / reception interface is a network.
  • the topology of the network is not limited to a specific one. You may have the transmission / reception port provided with the function of both the transmission port 202 and the reception port 203.
  • the synchronization frame receiving unit 204 receives and analyzes the synchronization frame intended for itself from the reception port 203. When receiving the synchronization frame, the synchronization frame receiving unit 204 notifies the delay counter unit 206 of the arrival of the synchronization frame.
  • the window unit 205 controls a time range in which the synchronization frame can be received.
  • the synchronization frame is expected to be received at a fixed period, but may be received at a timing other than the expected fixed period for some reason.
  • the window unit 205 eliminates the synchronization frame received at a timing other than the fixed period in this way so as not to disturb the synchronization timing.
  • the delay counter unit 206 counts up in synchronization with the clock.
  • the delay counter control unit (not shown) counts up to the upper limit value due to the arrival of the synchronization frame, the initial value is cleared.
  • the initial value may be a value other than zero.
  • the synchronization pulse output unit 207 compares the synchronization pulse output value with the values of all the delay counter units 206, and outputs a synchronization pulse to the system bus 131 via the system bus interface unit 209 if they match.
  • a synchronization pulse output by the synchronization pulse output unit 207 a synchronization frame can be exemplified.
  • the synchronization pulse output from the synchronization pulse output unit 207 may be set to be output only once per synchronization cycle.
  • the synchronization pulse output value may be set within a range that the delay counter unit 206 can take. In the synchronization pulse output value, a delay time until the synchronization master 100 outputs a synchronization pulse and arrives at the network unit to which the synchronization target is connected is set.
  • the system bus interface unit 209 transmits / receives commands to / from the system bus or inputs / outputs control signals.
  • FIG. 3 is a diagram for explaining an actual operation example when sending a synchronization frame in the network system shown in FIG.
  • the synchronization master 100 includes a first synchronization target connected to the first network unit 111, the second network unit 112, the third network unit 113, and the fourth network unit 114.
  • a synchronization frame is transmitted once per period.
  • the first network unit 111, the second network unit 112, the third network unit 113, and the fourth network unit 114 are respectively connected to the first synchronization target 121, the second synchronization target 122, and the third network unit 114.
  • the synchronization pulse is output after a certain time (waiting time) after the arrival of the synchronization frame in consideration of transmission delay in the network. That is, the output time of the synchronization pulse is a time obtained by adding a waiting time after arrival of the synchronization frame to the arrival time of the synchronization frame.
  • the waiting time after arrival of the synchronization frame is set by the synchronization master 100, and the synchronization master 100 before the system operates, the first network unit 111, the second network unit 112, the third network unit 113 and the fourth network.
  • the unit 114 may be notified.
  • the waiting time after the arrival of the synchronization frame may be changeable while the system is operating.
  • the number of transmissions of the synchronization frame in one cycle is not limited to once, and may be transmitted a plurality of times.
  • the synchronization master 100 periodically transmits a synchronization frame via the communication interface unit 152 using the interval timer 150.
  • the synchronization master 100 transmits a synchronization frame at time t1.
  • time t1 represents a relative time from the start of the cycle, and in the next cycle, the synchronization master 100 also performs transmission at time t1.
  • the synchronization frame is fetched from the reception port 203 and transferred to the synchronization frame reception unit 204.
  • the synchronization frame is also transferred to the frame delay unit 200.
  • the delay time from the synchronization master 100 to the first network unit 111 is t2-t1.
  • This delay time t2-t1 is the sum of the transmission time of the network cable and the processing time in the first network unit 111 for the synchronization frame.
  • the delay time t2-t1 is composed of a fixed value and a value that varies depending on conditions, and changes due to the influence of the variation value.
  • This fluctuation value becomes the jitter of the delay time t2-t1, and becomes a factor of reducing the synchronization accuracy in the first synchronization target 121, the second synchronization target 122, the third synchronization target 123, and the fourth synchronization target 124. .
  • FIG. 4 is a diagram for explaining a part of an actual operation example, and is an enlarged view of a region surrounded by a dotted-line rectangle in the vicinity of time t2 of the first network unit 111 in FIG.
  • the time when the first network unit 111 receives the synchronization frame is t2 ⁇ ⁇ .
  • the delay time t2-t1 and the jitter ⁇ of the first network unit 111 are calculated from the synchronization master 100 by performing measurement by the synchronization master 100 transmitting a measurement frame a sufficient number of times before system operation.
  • the window width of the window unit 205 is determined as time t2 ⁇ ⁇ . Further, the delay timing of the repeat timing control unit 201 is set to time t2 + ⁇ . Time t2 is a relative time representing an elapsed time from the start time of the synchronization period.
  • the delay time and the jitter are calculated, and the window width and the delay timing are set. Furthermore, if a measurement frame is periodically transmitted, it is possible to cope with a change in jitter due to a change in environment such as temperature and aging.
  • the synchronization frame transmitted from the synchronization master 100 at time t1 arrives at time t2 ⁇ ⁇ . In such a case, the conventional network unit immediately transfers to the transmission port regardless of the arrival time.
  • the first network unit is The time of the synchronization frame transmitted from the transmission port 202 of the network unit 111 is t2 ⁇ ⁇ , and the jitter at the time of reception is directly passed on to the next network unit.
  • the first network unit 111 waits until time t2 + ⁇ after the synchronization frame arrives at the first network unit 111 at any timing within the range of time t2 ⁇ ⁇ , and then the next network unit.
  • the synchronization frame is transmitted to (here, the second network unit 112).
  • the second network unit 112 the third network unit 113, and the fourth network unit 114 delay the synchronization frame repeat timing to the worst value of the expected arrival time, thereby reducing synchronization jitter.
  • the second network unit 112 receives the synchronization frame from the first network unit 111 with the synchronization jitter ⁇ reduced at time t3 ⁇ ⁇ . Even if the synchronization frame arrives at the second network unit 112 at any timing within the range of time t3 ⁇ ⁇ , the second network unit 112 waits until time t3 + ⁇ and then waits for the next network unit (here, the third network unit). 113) is transmitted. In this way, it is possible to prevent jitter from being taken over by the third network unit 113 that receives the next synchronization frame.
  • the arrival time of the synchronization frame received by the second network unit 112 from the first network unit 111 is time t3 ⁇ ⁇ ⁇ ⁇ .
  • the second network unit 112 can reduce the synchronization jitter by delaying the repeat timing of the synchronization frame to the worst value of the expected arrival time to t3 + ⁇ .
  • the third network unit 113 receives the synchronization frame from the second network unit 112 with the synchronization jitters ⁇ and ⁇ reduced at time t4 ⁇ ⁇ . Even if the synchronization frame arrives at the third network unit 113 at any timing within the range of time t4 ⁇ ⁇ , the third network unit 113 waits until time t4 + ⁇ and then waits for the next network unit (here, the fourth network unit). 114). By doing so, it is possible to prevent the jitter from being taken over by the fourth network unit 114 that receives the next synchronization frame.
  • the arrival time of the synchronization frame received by the third network unit 113 from the second network unit 112 is t4 ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ .
  • the third network unit 113 delays the repeat timing of the synchronization frame to the worst value of the expected arrival time to t4 + ⁇ , thereby reducing the synchronization jitter. Can be reduced.
  • the fourth network unit 114 similarly receives the synchronization frame from the third network unit 113 at time t5 ⁇ ⁇ . However, the fourth network unit 114 is the end of the network and does not perform repeat (transmission to be relayed).
  • the synchronization frame reception unit 204 in the first network unit 111 analyzes the synchronization frame transferred from the reception port 203 and detects that it is a synchronization frame. When detecting that the arrived frame is a synchronization frame, the synchronization frame receiving unit 204 notifies the window unit 205 of the arrival of the synchronization frame. If the synchronization frame is the expected arrival time, the window unit 205 notifies (instructs) the delay counter unit 206 to clear.
  • the arrival time of the synchronization frame of the window unit 205 is set to time t2 ⁇ ⁇ , which is the same as the synchronization frame arrival time expected by the repeat timing control unit 201. However, it is not always necessary to match.
  • the delay counter unit 206 is a free-running counter that counts up in synchronization with the internal clock of the first network unit 111, and clears the count when receiving a clear notification (instruction) from the window unit 205 at time t2. To the initial value.
  • the synchronization pulse output unit 207 compares the current value of the delay counter unit 206 with the synchronization pulse output value, and if they match, the synchronization pulse output unit 207 passes the system bus interface unit 209 and outputs the synchronization pulse to the first synchronization target 121. .
  • the time t6-t2 is set as the synchronization pulse output value.
  • the sync pulse output unit 207 A synchronization pulse is output at time t6.
  • the arrival time of the synchronization frame fluctuates in the range of time t2 ⁇ ⁇ for each period, the synchronization pulse output time is also in the range of time t6 ⁇ ⁇ .
  • the second network unit 112 receives the synchronization frame from the first network unit 111 with the synchronization jitter reduced at time t3 ⁇ ⁇ . Then, a synchronization pulse is output at time t6 to the second synchronization target 122 by the same operation as the first network unit 111. However, since the arrival time of the synchronization frame varies in the range of t3 ⁇ ⁇ for each period, the synchronization pulse output time is also in the range of time t6 ⁇ ⁇ .
  • the time when the third network unit 113 outputs the synchronization pulse to the third synchronization target 123 is time t6 ⁇ ⁇ .
  • the fourth network unit 114 receives the synchronization frame at time t5 ⁇ ⁇ , it is not necessary to delay the output of the synchronization pulse because it is at the end of the network, but here, after waiting until time t6, the synchronization is performed. Output a pulse. However, since the synchronization jitter ⁇ actually shifts, the output time of the synchronization pulse is time t6 ⁇ ⁇ .
  • the time when the first network unit 111 outputs the synchronization pulse to the first synchronization target 121 is time t6 ⁇ ⁇
  • the second network unit 112 outputs the synchronization pulse to the second synchronization target 122.
  • the time when the third network unit 113 outputs the synchronization pulse to the third synchronization target 123 is the time t6 ⁇ ⁇
  • the fourth network unit 114 is the fourth synchronization target.
  • the time when the synchronization pulse is output to 124 is time t6 ⁇ ⁇ .
  • the worst values (maximum values) of the synchronization jitter when synchronizing the first synchronization target 121, the second synchronization target 122, the third synchronization target 123, and the fourth synchronization target 124 are ⁇ , ⁇ , ⁇ . , ⁇ is the worst value (maximum value).
  • FIG. 5 is a diagram showing an operation when the present invention is not applied, and is a comparative example.
  • the time when the first network unit 111 outputs the synchronization pulse to the first synchronization target 121 is time t6 ⁇ ⁇
  • the time when the second network unit 112 outputs the synchronization pulse to the second synchronization target 122 is time
  • the time when the third network unit 113 outputs the synchronization pulse to the third synchronization object 123 is time t6 ⁇ ⁇ ⁇ ⁇ ⁇ ⁇
  • the fourth network unit 114 is the fourth t4 ⁇ ⁇ ⁇ ⁇ .
  • the time for outputting the synchronization pulse to the synchronization object 124 is time t6 ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ . This is because each network unit takes over the jitter of the preceding network unit. Therefore, when the present invention is not applied, the worst value (absolute absolute value) of synchronization jitter when synchronizing the first synchronization target 121, the second synchronization target 122, the third synchronization target 123, and the fourth synchronization target 124.
  • the maximum value is ⁇ ( ⁇ + ⁇ + ⁇ + ⁇ ). As described above, according to the present invention, the synchronization jitter can be greatly improved.
  • the jitter that can be reduced by the present invention is not limited to the synchronization frame, and can be applied to a measurement frame in which the synchronization master 100 measures the delay time of the synchronization frame.
  • the window width to be reduced can be made narrower than before, and synchronization can be achieved with high accuracy.
  • the network system of the present embodiment described above includes a plurality of connected network units, one or more synchronization targets connected to each of the plurality of network units, and any one of the plurality of network units.
  • a synchronization master connected to the network unit, wherein the synchronization master outputs a synchronization pulse to the network unit at a set time to measure a delay time, and the network unit
  • a network packet including a frame from a synchronization master or another network unit is received, the frame is analyzed, and if the frame is a synchronization frame, the synchronization frame is buffered and the repeat timing is delayed to the next network unit.
  • the synchronization target is And executes a processing program at a timing synchronized to a received pulse from the serial network unit.
  • the repeat timing is delayed by a maximum value of jitter in the network unit, and the synchronization pulse is output by using the maximum value of jitter of the plurality of network units.
  • the network unit includes a synchronization timing control unit that determines the repeat timing, and the synchronization timing control unit is configured such that a delay measurement frame is transmitted from the synchronization master in advance during the buffering. It is preferable that the repeat timing determined by delaying the synchronization frame is calculated from a result of measuring a delay time and synchronization jitter of the synchronization frame.
  • the network unit analyzes the synchronization frame from another network unit and notifies the delay counter control unit of the synchronization frame reception unit, and a delay counter that counts up in synchronization with an internal clock.
  • a delay counter control unit that clears a delay count value that has been counted up by the delay counter unit upon arrival of the synchronization frame, and a synchronization pulse output that sets a synchronization pulse output value within a range that the delay counter unit can take And comparing the delay count value of the delay counter unit with the sync pulse output value of the sync pulse output unit, and when the sync pulse output value matches the delay count value, It is preferable to output.
  • the network unit and the synchronization master are connected through the system bus.
  • the synchronization master may include the network unit.
  • the network unit and the synchronization target may include the network unit as the synchronization target.
  • the network system according to the present invention is useful for a network system including a plurality of network units, and is particularly suitable for a motion control system that requires a highly accurate motion operation using a plurality of axes. Yes.

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  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Synchronisation In Digital Transmission Systems (AREA)

Abstract

Afin de réduire suffisamment la gigue d'une trame synchrone, la présente invention comprend : des unités de réseau (111-114), des sujets de synchronisation (121-124) qui sont connectés respectivement aux unités de réseau (111-114), et un maître de synchronisation (100) connecté à l'une des unités de réseau (111-114). Le maître de synchronisation (100) mesure le retard en envoyant une impulsion de synchronisation aux unités de réseau (111-114) à des intervalles de temps définis ; les unités de réseau (111-114) reçoivent des paquets de réseau contenant une trame, du maître de synchronisation (100) ou d'une autre unité de réseau ; la trame est analysée ; si la trame est une trame synchrone, la trame synchrone est mise en tampon, retardant l'intervalle de répétition, et transmise à l'unité de réseau suivante ; et les sujets de synchronisation (121-124) exécutent un programme de traitement à l'instant de l'impulsion de synchronisation reçue de l'unité de réseau (111-114).
PCT/JP2014/061600 2014-04-24 2014-04-24 Système de réseau WO2015162763A1 (fr)

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Cited By (3)

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Publication number Priority date Publication date Assignee Title
JP2018152005A (ja) * 2017-03-15 2018-09-27 オムロン株式会社 計測システム、制御装置、計測方法
JP2018537031A (ja) * 2015-11-10 2018-12-13 テレダイン・イー・２・ブイ・セミコンダクターズ・エス・ア・エス １つのデータ変換器から次のデータ変換器に送信される信号によってデータ変換器を同期させる方法
DE112017005013T5 (de) 2017-10-02 2019-07-04 Mitsubishi Electric Corporation Kommunikationsvorrichtung und Kommunikationsnetzwerk

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JP2013543716A (ja) * 2010-10-22 2013-12-05 アルカテル−ルーセント パケット交換ネットワークのマスタークロックとスレーブクロックを同期させるための非侵入型の方法および関連同期化デバイス

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2018537031A (ja) * 2015-11-10 2018-12-13 テレダイン・イー・２・ブイ・セミコンダクターズ・エス・ア・エス １つのデータ変換器から次のデータ変換器に送信される信号によってデータ変換器を同期させる方法
JP2018152005A (ja) * 2017-03-15 2018-09-27 オムロン株式会社 計測システム、制御装置、計測方法
JP7009751B2 (ja) 2017-03-15 2022-01-26 オムロン株式会社 計測システム、制御装置、計測方法
DE112017005013T5 (de) 2017-10-02 2019-07-04 Mitsubishi Electric Corporation Kommunikationsvorrichtung und Kommunikationsnetzwerk

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