WO2017026180A1 - 制御ネットワークシステム、そのノード装置 - Google Patents
制御ネットワークシステム、そのノード装置 Download PDFInfo
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- WO2017026180A1 WO2017026180A1 PCT/JP2016/069040 JP2016069040W WO2017026180A1 WO 2017026180 A1 WO2017026180 A1 WO 2017026180A1 JP 2016069040 W JP2016069040 W JP 2016069040W WO 2017026180 A1 WO2017026180 A1 WO 2017026180A1
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- control network
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/42—Loop networks
- H04L12/427—Loop networks with decentralised control
- H04L12/433—Loop networks with decentralised control with asynchronous transmission, e.g. token ring, register insertion
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/42—Loop networks
- H04L12/427—Loop networks with decentralised control
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/42—Loop networks
- H04L12/422—Synchronisation for ring networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L5/00—Arrangements affording multiple use of the transmission path
- H04L5/14—Two-way operation using the same type of signal, i.e. duplex
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
- H04L69/28—Timers or timing mechanisms used in protocols
Definitions
- the present invention relates to a control network system in which a plurality of node devices are connected by communication lines and exchange data every predetermined cycle.
- each device (node) constituting the system must exchange large-capacity data with each other while guaranteeing real-time performance.
- real-time performance means, for example, that data exchange between all devices that require data exchange is completed within each period of a fixed period.
- Each device needs to collect data indicating the state of the device at that time, for example, at regular intervals, and pass this to all other devices. In other words, each device acquires status data of all other devices, for example, at regular intervals, and executes some predetermined processing using the acquired data.
- Each device is a device or the like that manages some device to be controlled. For example, data (temperature, pressure, rotation speed, etc.) indicating the current state of the control management device is collected at any time. . The collected data of each device (node) needs to be shared by all devices (nodes).
- each device is provided with a virtual shared memory (common memory), and each device communicates with every node on the network in a time-division multiplexing manner (at different timings) every communication cycle (scan time).
- a data exchange system that guarantees real-time performance is realized by a transmission system that transmits data.
- Each node updates the data in the corresponding area of the common memory with the received data, and from this, the application accesses the common memory to acquire the latest data of other nodes, and something that uses this latest data. Will be executed.
- Patent Document 1 prevents duplication of transmission timing from each node by using both the time division multiple access method by the internal timer of each node and the internal timer correction of the slave node by the synchronization frame from the master node. While achieving high-efficiency transmission.
- Patent Document 2 discloses a conventional technique substantially similar to Patent Document 1.
- FIG. 14 shows a specific example of data exchange by a conventional method such as Patent Documents 1 and 2 above.
- each station has two types of timers, a cycle timer and a send timer.
- the cycle timer is a timer for generating a data exchange period (scan time), and the same time is set in all stations.
- the synchronization of the cycle timers of all the stations is achieved by the synchronization frame, but this is not particularly described.
- the send timer is a timer for generating the data transmission timing of each station, and different values are set for all stations.
- the send timer is started when the cycle timer is up, and the timer is up at a timing according to the set value. Therefore, the timers are up at different timings at all stations.
- the data transmission timings of all stations are different from each other.
- a scan time 101 that is a data exchange period (communication cycle) is generated by the cycle timer.
- the scan time 101 is composed of the illustrated TC band 102 used for time adjustment and the illustrated TS band 103 used for data exchange.
- the TC band and the TS band are as described in Patent Document 2, for example, and are not specifically described here.
- the synchronization frame 104 for performing time synchronization is transmitted on the transmission path by the master node by the node synchronization method described in Patent Document 2 and the like, thereby synchronizing the cycle timer of each slave node.
- each node broadcasts the data of its own station on the communication path at the transmission timing assigned to itself.
- the send timer of the own station is started at the start timing of each communication cycle, and the timing when the send timer is up is the transmission timing.
- the send timers are timed up at different timings in all stations, so that frame data (107, 110, etc.) is broadcasted on a communication path (not shown) at different timings. Will be.
- transmission time slots (105, 108, etc.) that are different from each other in time division with respect to the scan time 101 are assigned to each station.
- the transmission path is configured as a network connected by a bus or a serial cable.
- Ethernet has been applied to industrial networks, and cooperation with information-related equipment is also considered. This is becoming mainstream in the controller level network.
- JP 2005-159754 A International Publication Number WO2013 / 121568
- the physical layer is a cascade of buses or serial cables, so that data can be transmitted to all other stations at once by broadcasting. It can be assumed that the reception timing of the broadcast-transmitted data is a time difference that can be ignored at the same time or almost at each node.
- each station is not an adjacent station.
- transmission is performed on the premise that relaying is performed by one or more stations between the own station and the communication partner station. That is, in this configuration, each station can communicate directly only with an adjacent station.
- a certain node relays the frame data to another adjacent station. By repeating this relay, the frame data finally reaches the destination station.
- the adjacent station is another station directly connected to the own station through a communication line.
- a communication line for data transmission from the own station to the adjacent station and a communication line for receiving data transmitted from the adjacent station are provided.
- FIG. 15 is a specific example of a control network system using a full duplex line in a ring topology.
- four nodes (station 1, station 2, station 3, and station 4) are respectively connected in a ring shape as shown in the figure by the two upstream and downstream communication lines.
- the clockwise (clockwise) communication path is line A
- the counterclockwise (counterclockwise) communication path is line B.
- line A for example, transmission data from the station 1 is sequentially relayed by the station 3, the station 2, and the station 4 in the order of station 1 ⁇ station 3 ⁇ station 2 ⁇ station 4 ⁇ station 1, and returns to the station 1.
- transmission data from the station 1 is sequentially relayed by the station 4, the station 2, and the station 3 in the order of the station 1 ⁇ the station 4 ⁇ the station 2 ⁇ the station 3 ⁇ the station 1. Come back to one.
- FIG. 16 shows an example of the operation of the control network system using the conventional communication method in the system of FIG.
- FIG. 16 shows an operation example of the line A, but the line B is substantially the same.
- FIG. 16 shows an operation example when this is realized in a ring topology configuration as shown in FIG. 15, for example.
- FIG. 16 is a token system in which a station that has acquired a token (transmission right) can transmit its own data, and the other stations receive and relay this data. .
- the station 1 acquires a token, and from this, transmits its own data to a downstream adjacent station.
- the adjacent station upstream of the station 1 is the station 4.
- rectangles indicate transmission / reception data frames (packets), and for each station, the upper side indicates reception and the lower side indicates transmission.
- the horizontal axis is time.
- the number in the rectangle indicates the transmission source station. For example, if “1”, the transmission source is the station 1 and the packet “station 1” is described.
- the station 1 that has acquired the token transmits a packet “station 1” to the station 3.
- “T” in the rectangle means a token.
- the station 3 Upon receiving the packet “station 1”, the station 3 acquires the packet and relays it to the adjacent downstream station (station 2). Similarly, the station 2 that has received the packet “station 1” acquires it and relays it to the adjacent downstream station (station 4). The station 4 that has received this packet 'station 1' also acquires it in the same manner and relays it to the adjacent downstream station (station 1).
- the station 1 receives the transmission data frame of its own station, and thus releases the token.
- the authority authority information is included in the token, and the authority authority is updated at the time of release.
- the authority station is updated at every release, such as “1” ⁇ “2” ⁇ “3” ⁇ “4” ⁇ “1” ⁇ “2” ⁇ .
- the authority station is updated to “2” when the token of the station 1 is released.
- the station 3 which is an adjacent station downstream of the station 1 receives the token, but since the authority station is not its own station, it relays it directly to the station 2 which is an adjacent station downstream of the own station.
- the station 2 Upon receiving the token, the station 2 transmits its own data (packet 'station 2') as having acquired the transmission right because the authority station is the own station. Naturally, this is transmitted to the station 4 which is an adjacent station downstream of the own station.
- the packet “station 2” is also received and relayed sequentially in the order of station 2 ⁇ station 4 ⁇ station 1 ⁇ station 3 in the same manner as the packet “station 1”, and finally the station 2 is the own station.
- the transmission data is received, and thus the token is released.
- the station 3 and the station 4 also acquire the token and obtain the transmission right, the station's data is transmitted, and the data is sequentially relayed by other stations and returned to the own station.
- all stations 1, 2, 3, and 4 transmit their own data, and all other stations receive and acquire the data. That is, all stations have passed their data to all other stations.
- the data exchange between all the stations (nodes) that require data exchange is completed within a fixed period, for example, within the time (scan time) from the start of the cycle timer to the time-up.
- a fixed period for example, within the time (scan time) from the start of the cycle timer to the time-up.
- all stations need to pass their own data to all other stations.
- the operation shown in FIG. 16 described above is performed. In other words, if it takes Ta to make a round of transmission packets for each station (until it returns to its own station) and the number of stations is M, it takes at least “Ta ⁇ M”. Become. That is, it takes a very long time, and thus the scan time needs to be set very long. In other words, there arises a problem that the data exchange cycle becomes long.
- An object of the present invention is to provide a control network system in which all node devices connected to a network exchange data with each other, thereby improving transmission efficiency and completing data exchange in a shorter time than before. Etc. is to provide.
- the control network system of the present invention is a control network system in which a plurality of node devices exchange data with each other, and each of the node devices has the following configuration.
- Data transmission means for transmitting the data of the own device to the adjacent station at a predetermined timing every predetermined data exchange cycle;
- a relay unit that, when receiving transmission data from any adjacent station, acquires the transmission data and relays it to another adjacent station; And the said predetermined timing of all the node apparatuses is made into the same timing.
- FIG. 9 is a flowchart (part 2) illustrating a process of a node driver.
- FIG. 9 is a flowchart (part 3) illustrating the processing of the node driver. It is a flowchart figure which shows the process of the process part of a node. It is a figure which shows the operation
- (A) and (b) are steps S21, S23. S24. It is a processing image of S26. It is another example of the topology of the control network system of this example. It is a functional block diagram of the control network system of this example. 2 is a configuration example of a line-type full-duplex line control network system. 1 is a configuration example of a ring-type single-line control network system. It is a figure which shows the specific example of the data exchange by a conventional method. It is a specific example of the network system for control by the full duplex line of a ring type topology. It is a figure which shows an example of operation
- FIGS. 1A and 1B are overall configuration diagrams of the control network system of this example.
- a network system that is a full-duplex line or the like and has a ring type topology is taken as an example, but the configuration of the control network system of this example is not limited to this example.
- a line type may be used instead of a ring type, and other types shown later may be used.
- it is not limited to a full-duplex line.
- it may be twice the number of lines (referred to as a full-quadruple line) or may be a single line.
- FIG. 1 shows an example in which there are four constituent nodes, but it is of course not limited to this example.
- the four nodes 10 (station 1, station 2, station 3, and station 4) shown in FIG. , 13, and a network A is a clockwise (clockwise) communication path in the entire network and a line B is a counterclockwise (counterclockwise) communication path.
- the communication lines 12 and 13 are, for example, uplink and downlink communication lines.
- communication between the station 1 and the station 2 is performed by the station 1 transmitting data to the station 2 via the communication line 12.
- the station 2 transmits data to the station 1 through the communication line 13.
- each node 10 has, for example, a driver 11, which is related to the communication line 12 (12 a, 12 b, 12 c, 12 d) related to the line A and the line B.
- Communication lines 13 13a, 13b, 13c, 13d are connected to the drivers 11 of the respective nodes 10 as shown in the figure.
- each of the communication lines 12 and 13 is composed of a plurality of communication lines (such as serial lines) instead of a single communication line (such as a serial line). That is, for example, the communication line 12 includes the communication lines 12a, 12b, 12c, and 12d illustrated. Each communication line connects between any two nodes 10. In the illustrated example, the communication line 12a is between station 1 and station 2, the communication line 12b is between station 2 and station 3, the communication line 12c is between station 3 and station 4, the communication line 12d is between station 4 and station 1, Each is connected.
- the communication line 13 includes the communication lines 13a, 13b, 13c, and 13d shown in the drawing. Each communication line connects between any two nodes 10.
- the communication line 13a is between station 1 and station 2
- the communication line 13b is between station 2 and station 3
- the communication line 13c is between station 3 and station 4
- the communication line 13d is between station 4 and station 1, Each is connected.
- station 1 transmits a data frame (packet) to station 2 via communication line 12a
- station 2 transmits a data frame (packet) to station 1 via communication line 13a.
- packet communication does not occur because the communication lines to be used are different.
- packet communication does not occur because the communication lines used for packet transmission differ.
- Each node 10 also has a processing unit 14, a cycle timer 15, and a send timer 16 in addition to the driver 11.
- the cycle timer 15 and the send timer 16 are described in the above Patent Documents 1 and 2, and description thereof is omitted here.
- the processing unit 14 executes main processing of the node 10. For example, control of a device to be controlled (not shown), collection of data indicating the state, management of setting / starting of the cycle timer 15 and the send timer 16, Various processes such as generation of transmission data frames (packets) are performed.
- the driver 11 transmits the transmission data frame to another node in response to a request from the processing unit 14, or receives the transmission data frame from another node and passes it to the processing unit 14.
- 13 is a processing unit (communication dedicated processor or the like) that performs communication processing via.
- the driver 11 When the driver 11 receives a packet sent from the upstream side for any of the communication lines 12 and 13, the driver 11 sends it to the downstream side if it is determined to relay it. For example, in the case of the station 1, for the line A, the station 4 is on the upstream side and the station 2 is on the downstream side, and for the line B, the station 4 is on the downstream side and the station 2 is on the upstream side.
- the driver 11 of the station 1 receives the transmission packet (data frame) from the station 4 via the communication line 12d, the driver 11 transfers it to the station 2 via the communication line 12a when relaying this packet.
- the contents (data) of the data frame are acquired and passed to the processing unit 14 as necessary.
- the packet is transmitted to the station 4 via the communication line 13d.
- the driver 11 of the station 1 transmits this data frame to both the line A and the line B. That is, this data frame is transmitted to the station 2 through the communication line 12a and transmitted to the station 4 through the communication line 13d.
- FIGS. 2A and 2B are flowcharts showing processing of the node 10.
- FIG. 2A shows the processing of the driver 11 at the time of transmitting local data.
- the processing unit 14 (CPU / MPU or the like) included in the node 10 executes predetermined control processing or the like by executing predetermined software (program) or the like.
- predetermined software program
- the driver 11 When the driver 11 receives the data and the transmission request (step S11), the driver 11 transmits the data frame to both the line A and the line B (step S12). As described above, both are transmitted downstream. Therefore, in the case of the station 1, the line A is transmitted to the station 2 via the communication line 12a, and the line B is transmitted to the station 4 via the communication line 13d.
- FIG. 2B shows processing of the driver 11 at the time of data reception.
- the driver 11 executes the process of FIG. First, the transmission source of the received packet is checked. If the transmission source is the local station (NO in step S21), this packet is discarded (step S23). In this case, it is because the packet transmitted by the own station in step S12 should have returned around the network.
- step S21 when the transmission source of the received packet is another station (other than the own station) (step S21, YES), the received packet is relayed (step S22). That is, the received packet is transferred to the downstream adjacent station.
- the received packet is left in a buffer (not shown) or the like and used in the processing of steps S24 and S25 described later.
- step S24 it is further determined whether or not the received packet is the same as the already received packet.
- the transmission source node transmits a packet to both the line A and the line B in step S12. Therefore, if normal, the other station receives these two packets. Therefore, the packet received later is not necessary.
- step S24, YES the same packet as the already received packet is received (step S24, YES)
- the received packet is discarded (step S26).
- the transmission source node assigns the same frame number to two packets (data frames) to be transmitted at the time of step S12. Normally, a frame number is assigned and transmitted every time a data frame is transmitted. The frame number is updated (for example, incremented by +1) every transmission.
- the process of step S24 for example, when the received packet and the already received packet have the same source node and the same frame number, it is determined that both are the same.
- this is an example, and the present invention is not limited to this example.
- step S24 when the received packet is one of the two packets received first (step S24, NO), the data of the received packet is passed to the processing unit 14 (step S25).
- the processing unit 14 performs some processing using this data, but since this is not particularly relevant, description thereof will be omitted.
- FIG. 3 is a process flowchart (part 2) of the driver 11 at the time of data reception.
- FIG. 4 is a process flowchart (part 3) of the driver 11 when receiving data.
- FIG. 3 will be described first.
- the driver 11 executes the process of FIG. First, the transmission source of the received packet is checked. If the transmission source is the local station (step S31, NO), this packet is discarded (step S35). Note that the processing in steps S31 and S35 may be the same as the processing in steps S21 and S23.
- step S32 when the transmission source of the received packet is another station (step S31, YES), it is subsequently determined whether or not the received packet is the same as the already received packet (step S32). This process may be the same as step S24 described above, and is not specifically described here. If the same packet as that already received is received (step S32, YES), the received packet is discarded (step S35). Step S35 may be the same as step S26, and step S26 may be the same as step S23. Thus, in FIG. 3, the “discard” processing is shown as one.
- step S34 the received packet is one of the two packets described in step S24 (step S32, NO).
- the received packet first-arrival packet
- step S33 the data is transferred to the processing unit 14 (step S34).
- Steps S33 and S34 may be the same as steps S22 and S25.
- the process of FIG. 3 differs from the process of FIG. 2B in that when the transmission source of the received packet is another station and the first packet is received, this packet is relayed. It is.
- the packet of the route of the station 1 ⁇ station 2 ⁇ station 3 arrives at the station 3 first. Thereafter, it is assumed that the packet of the route of station 1 ⁇ station 4 ⁇ station 3 has arrived at station 3. In this case, in the processing of FIG. 3, a packet that arrives later is not relayed to the station 2. However, since the station 2 has already received a packet through the route of the station 1 ⁇ station 2 ⁇ station 3, there is no problem.
- step S41 is executed instead of step S21.
- step S42, S43, S44, and S45 are the same as those in FIG. Steps S22, S24, S25, and S23 (or S26) may be the same, and are not specifically described here.
- step S41 is a process of checking the transmission source of the received packet and determining whether or not the transmission source is a frame transmitted by an adjacent station downstream of the own station. If the transmission source is a frame transmitted by an adjacent station downstream of the own station (step S41, YES), the received packet is discarded. If not (step S41, NO), the process proceeds to step S42. .
- an identification number (station ID or the like) of the transmission source node is assigned to each packet (data frame).
- each node 10 stores network configuration information in advance.
- the network configuration information includes, for each node 10, information such as the station IDs of the adjacent stations upstream and downstream of the own node.
- the network configuration information is arbitrarily created in advance by, for example, a developer and stored in each node 10, but is not limited to this example.
- special packets that are determined to be relayed without being allowed to be discarded without being discarded except for the transmission source node and to be assigned with the station ID of the relay station at the time of relay are prepared in advance.
- the transmission source node is based on the assigned station ID, It is possible to discriminate between upstream and downstream adjacent stations.
- step S ⁇ b> 41 may be performed instead of step S ⁇ b> 31.
- the processing in FIGS. 2, 3, and 4 can be summarized as follows, for example.
- a packet is discarded when it has made a round of each node 10 of the ring network, that is, when all nodes 10 that require data exchange have received it.
- the packet may be discarded by the node 10 that is the packet transmission source, or the node 10 that is immediately before (the node 10 that relays the packet to the transmission source node).
- the transmission source node transmits the packet to both the line A and line B systems.
- Each other node 10 receives packets from both systems.
- the driver 11 of each other node 10 passes the first received packet to the processing unit 14 (substantially receives), but does not pass the second received packet to the processing unit 14 (substantially does not receive). .
- FIG. 5 is a flowchart showing processing of the processing unit 14 of the node 10.
- the processing in FIG. 5 is executed as needed, and basically is in a state of waiting for some event (step S51), and every time an event occurs (YES in step S52), the event that has occurred
- the process according to the contents of is executed.
- Step S53 If the generated event is a timeout (cycle TO) of the cycle timer 15 (step S53, YES), a predetermined set value is set in the send timer 16 (step S54), and the send timer 16 is started. (Step S55).
- step S57 the local station data is transmitted (step S57). This is to pass the data and transmission request of the own station to the driver 11.
- the driver 11 receives the data & transmission request in step S11 and transmits this data to both the line A and line B (step S12).
- step S56 is YES. If the generated event is reception of a common memory frame (step S58, YES), the data of this common memory frame is stored in a corresponding area of the common memory (not shown) (step S59).
- the frame transmitted in accordance with the process of step S57 is referred to as a common memory frame.
- the master node may transmit not only the common memory frame but also a synchronization frame for synchronizing the cycle timer 15 at another timing. This is transmitted to an arbitrary destination node.
- each node 10 other than the destination node receives this synchronization frame, it relays it.
- the destination node returns a synchronization response frame to the transmission source node (master node) without relaying. This process corresponds to step S60. This is the process of S61.
- the synchronization response frame is passed to the driver 11 to be transmitted to the transmission source node (master node) (Ste S61).
- any one of the plurality of nodes 10 constituting the system (in one example, any one of the station 1, the station 2, the station 3, and the station 4) is set in advance so as to operate as the master node. Or the priority is determined in ascending or descending order of the station number, MAC address, etc., and operates as the master node. All nodes 10 other than the master node basically operate as slave nodes. Then, the master node synchronizes the cycle timers 15 of all the slave nodes with the cycle timer 15 of its own node by using the synchronization frame or the like. This is described in prior art documents and the like and will not be described in further detail here.
- the master node when the master node transmits the synchronization frame, the master node transmits the synchronization frame to both the lines A and B by the process of step S12 in FIG. 2A, for example.
- the driver 11 passes the synchronization frame to the processing unit 14 by the processing of step S34. Accordingly, the processing unit 14 performs the process of step S61 because step S60 becomes YES. As a result, the driver 11 transmits the synchronization response frame to both systems through the process of step S12.
- the master node the synchronization response frame that arrives first is delivered to the processing unit 14 by the process of step S34. Note that both the master node and the destination slave node discard the later-arrived frame or the transmission frame of the own station (step S35).
- the frame travels back and forth between the master node and the destination slave node with the shortest route.
- the time required for frame reciprocation along the shortest route is measured by the master node, and half of the measurement time is calculated as the communication time (communication delay time) between the master node and the destination slave node.
- the process of synchronizing the cycle timer 15 using the communication delay time is a conventional technique and is not particularly described here.
- step S60 If the generated event is not any of the various events described above (NO in step S60), processing corresponding to the generated event is executed, but this is not particularly illustrated or described.
- the set value of the send timer is set to a different value in all stations.
- the same setting value is set in all stations (not necessarily completely the same, but may be substantially the same. May be different).
- the send timer set value in step S54 is determined by the following calculation formula as an example for each node.
- Setting value TC bandwidth time + (slot unit time x assigned slot number of own station)
- the slot unit time is the length of the transmission time slot (105, 108, etc.).
- slot unit time TS band time / number of stations.
- the assigned slot number is “0” and a natural number. For example, when the number of stations is N, any one of 0, 1, 2,... It is assigned.
- FIG. 6 is a diagram showing an operation related to the local data transmission of the network system according to the present technique.
- the processing of steps S54 and S55 is executed at each scan time 21 (data exchange period) generated by the cycle timer 15 for each node 10, and the send timer 16 starts operating.
- the processing of step S57 transmission of the local station data frame 26 is performed simultaneously on all the nodes 10.
- step S57 transmission of the local station data frame 26
- step S57 transmission of the local station data frame 26
- all the send timers 16 are configured to timer up at the same timing. As an example for realizing this, synchronization of the cycle timer 15 is performed. In this case, the same value is set in the send timers 16 of all the nodes 10, but the present invention is not limited to this example.
- the time from the start of the send timer 16 to the timer up may be the same, and an example of a method for realizing this is that the set values are the same as described above.
- the set values are the same as described above.
- the initial values (values at the time of activation) of the send timers 16 are different, the set values are naturally different.
- the count number is “1000”, for example, the initial value of the send timer 16 of the station 1 is “0”, the initial value of the send timer 16 of the station 2 is “1000”, and the initial value of the send timer 16 of the station 3 Is '2000', and the initial value of the send timer 16 of the station 4 is '3000'.
- the setting values set in step S54 of each send timer 16 are “1000” for station 1, “2000” for station 2, “3000” for station 3, and “4000” for station 4, all nodes 10, the count number until the timer of the send timer 16 is up is “1000”. As a result, all the send timers 16 are timed up at the same timing.
- all the send timers 16 may be configured to timer up at the same timing, and any method may be used. For example, as long as the send timers 16 of all the nodes 10 are started at the same timing and timed up after the same time so that all the send timers 16 are timed up at the same timing, anything may be used. Moreover, it is not restricted to this example.
- the “same timing” is not limited to the completely same timing, and there may be some deviation.
- the transmission delay time between the master node and each slave node was obtained.
- the time required for a specific packet to make a round trip between the master node and the slave node was measured, and half of the actually measured value was used as the transmission delay time.
- each slave node receives the specific packet, it immediately returns it to the master node.
- the same processing is performed to obtain the transmission delay time. That is, in the case of a specific packet, the specific packet is not relayed around the ring network, but is relayed to each slave node in turn as a destination and to the destination slave node. When the destination slave node receives the specific packet, it immediately returns it to the master node.
- the master node transmits the specific packet to both line A and line B, and the destination slave node receives the specific packet twice via two communication paths.
- the destination slave node performs the reply process only on the first received specific packet, and discards the second received specific packet. That is, the transmission delay time of the shortest route between the master node and each slave node is obtained.
- the master node and the slave node are not particularly distinguished, but here it is assumed that the station 1 in FIG. 1 is the master node. Then, when the station 1 transmits, for example, a specific packet whose destination is the station 2 to both the lines A and B, the station 2 first receives the specific packet via the communication line 12a. This is returned to the station 1 via the communication line 13a. Thereafter, the station 2 receives the specific packet relayed by the station 4 and the station 3 via the line B via the communication line 13b, but discards the specific packet.
- the transmission delay time between the master node (station 1) and the station 2 that is, the time required for communication between the station 1 and the station 2 on the shortest route is obtained.
- the transmission delay times between the station 1 and the station 3 and between the station 1 and the station 4 are obtained in the same manner.
- the scan time 21 which is a data exchange cycle is composed of a TC band 22 used for time adjustment and a TS band 23 used for data exchange.
- a synchronization frame 24 for performing time synchronization is transmitted on the transmission path by the master node by, for example, the node synchronization method of Patent Document 2.
- Each slave node synchronizes the cycle timer 15 of its own station with the cycle timer 15 of the master node based on the reception timing of the synchronization frame 24 and the transmission delay time. This process is performed in step S62.
- the synchronization frame described above is an example of the specific packet, but the synchronization frame is different from the synchronization frame 24.
- FIG. 6 only one operation of the cycle timer 15 is shown, but each node 10 operates based on the cycle timer 15 of its own station. As described above, from the premise that all the cycle timers 15 are synchronized, only one is shown.
- FIG. 7 shows the data transmission / reception operation of the entire system according to this method.
- FIG. 7 shows the operation in a configuration in which a station 5 is further provided between the stations 1 and 4 shown in FIG.
- FIG. 7 shows the transmission / reception data (packet) similarly to FIG. 16, and the upper side shows reception and the lower side shows transmission for every station like FIG.
- the horizontal axis is time. Further, the transmission source station is described in the rectangle.
- FIG. 7 shows from the time point when the send timer 16 is up.
- each station transmits its own data at the same time. For example, the station 1 transmits data of “station 1” in the illustrated rectangle.
- Each node 10 transmits the same frame (local station data) to line A and line B at the transmission timing shown in FIG.
- each node 10 When receiving a frame passed from an upstream adjacent node (adjacent station), each node 10 relays the received frame to a downstream adjacent node unless the transmission source is the local station.
- FIG. 7 shows data transmission / reception operations for the line A and the line B, but here, for simplification. Only the line A will be described, but the line B may be regarded as the same as the line A.
- the station 1 when viewed from the station 1, the downstream adjacent station is the station 2, and the upstream adjacent station is the station 5.
- the station 2 receives the transmission data of the station 1 (the rectangle in which “station 1” is included).
- the station 1 starts to receive the “station 5” data as shown in the figure during the transmission of the “station 1” data.
- the transmission timings of “Station 1” data and “Station 5” data are the same, but the reception timing is somewhat delayed due to a delay due to the communication path.
- the operation related to the station 1 is the same for other stations.
- the station 3 transmits its own station data to the station 4 and starts receiving “station 2” data as shown in FIG. Become.
- the station 1 transfers the “station 5” data to the station 2 immediately. That is, the “station 5” data is relayed. The received data cannot be transferred until all the received data is received. Then, the station 1 starts receiving the “station 4” data transferred from the station 5 as shown in the figure during the transfer process of the “station 5” data. When the reception is completed, the transfer of “Station 4” data is started immediately.
- the station 1 sequentially relays (receives and transfers) the “station 3” data and the “station 2” data as shown in the figure, and thereafter the “station 1” data as shown in the figure. Will be received. That is, the local station data has returned through the circuit A.
- the determination in step S21 is NO, and thus the process in step S23 is performed (the received “station 1” data is discarded).
- the communication bandwidth between each node does not become unused as in the prior art, the time required to exchange data between all nodes is shortened, and further data exchange is possible in the remaining bandwidth time, The amount of data on the network can be increased. Further, by using the remaining bandwidth time as the next scan time, it is possible to realize a high data exchange cycle.
- each node 10 receives the same packet from both line A and line B as described above. Then, the packet received later is discarded because the processing in step S26 is executed.
- the station 1 receives the “station 5” data for the line A from the station 5 ⁇ the station 1 and receives it at an early stage.
- the “station 5” data is received by station 5 ⁇ station 4 ⁇ station 3 ⁇ station 2 ⁇ station 1 and is received at the end. That is, the station 1 receives the “station 5” data from the line A for the first time and from the line B for the second time, and the first time performs the process of step S25, but the second time is the process of step S26. Processing will be performed.
- this is only an example, and the present invention is not limited to this example.
- step S26 may be performed for the first time, but the process of step S25 may be performed for the second time.
- the process of step S26 may be performed for the first time, but the process of step S25 may be performed for the second time.
- two identical frames are received, one is discarded and the other is received on a first-come-first-served basis or a later-arrival basis.
- FIG. 7 shows a case where the transmission data amount of all the nodes 10 is the same, but this method can obtain the above effect even when the transmission data amount is different in each station. Is. This will be described with reference to FIG.
- the stations 1 and 4 transmit only one packet, the station 2 transmits three packets, and the station 3 transmits two packets. That is, the station 2 has the largest amount of transmission data, and the next largest is the station 4.
- FIG. 8 unlike FIG. 7, the operation in the configuration shown in FIG. 1 is shown. Therefore, the number of nodes 10 is four (station 1, station 2, station 3, and station 4). Here, only the operation related to the line A is shown, and the line B is omitted. On line A, for example, the packet goes around in the order of station 1 ⁇ station 2 ⁇ station 3 ⁇ station 4 ⁇ station 1.
- each of the four stations starts transmitting its own data by, for example, sending up its own send timer 16 at the beginning of the TS band.
- station 1 transmission of the data of its own station
- station 4" data reception of "station 4" data is started during this transmission operation.
- transfer of “station 4” data to station 2 is started immediately.
- the two “station 3” data are sequentially received and relayed to the station 2 in turn.
- three “station 2” data are sequentially received, and these are also sequentially relayed to the station 2.
- “Station 1” data is received, it is discarded as described above (in the case of the example in FIG. 2B).
- the station 2 transmits three own station data (“station 2” data).
- the driver 11 when the driver 11 is configured to include a FIFO memory and a transmission-only chip (IC or the like) described later, the driver 11 stores the three “station 2” data in the FIFO memory.
- the transmission-only chip sequentially retrieves and transmits data stored in the FIFO memory.
- the first “station 2” data is extracted and transmission is started. In the illustrated example, reception of “station 1” data is started during this transmission process, and when reception of “station 1” data is completed, this is stored in the FIFO memory. Thereafter, reception of “station 4” data is started, and when reception of “station 4” data is completed, this is stored in the FIFO memory.
- the dedicated chip for transmission sequentially extracts and transmits the data stored in the FIFO memory in the order of storage, in the above example, as shown in the figure, first, the three “station 2” data are sequentially transmitted, and then “station 1”. Data is transmitted, and then “Station 4” data is transmitted.
- the transmission of “station 1” data and “station 4” data is a relay (transfer) process.
- the transmission destination is the station 3 which is a downstream adjacent station.
- the station 2 further receives two “station 3” data in sequence, and relays them after completing the other station data already received. Further, three local station data (“Station 2" data) are also received sequentially, but all of them are discarded by the above step S23.
- the local station data is discarded when received.
- the present invention is not limited to this example.
- the data of this packet may be acquired but not relayed (for example, discarded).
- the transmission source does not need to acquire the data of this packet, but simply discards it as in step S23. Therefore, the process of relaying this packet is useless, and the above process is performed to eliminate this uselessness. You may make it perform. As a result, the data exchange of all the nodes is completed in a shorter time.
- the driver 11 shown in FIG. 1B includes a FIFO memory (not shown) and a transmission dedicated chip.
- a FIFO memory and a dedicated transmission chip are provided for line A and line B, respectively.
- the transmission dedicated chip for the line A sequentially transmits them on the line A.
- a data frame is transmitted on the communication line 12b (that is, to the station 3).
- the main body of the driver 11 performs a process of storing the local station data frame or the received data frame in the corresponding FIFO memory in the process of step S12 or step S22.
- the station 2 first transmits its own data consisting of three data frames to both the line A and line B systems in step S12.
- the three “station 2” data frames are sequentially stored in the FIFO memory corresponding to the line A.
- the transmission-only chip corresponding to the line A sequentially transmits the three “station 2” data frames on the communication line 12b.
- the station 2 sequentially transmits three local station data (“station 2” data) to the station 3.
- the station 2 sequentially receives the “station 1” data, the “station 4” data, etc., and these are received through the relay process in step S22.
- the station 2 sequentially transmits “station 1” data, “station 4” data, and the like. .
- the FIFO memory may store information (pointer or the like) indicating the storage location of each data.
- the transmission-only chip sequentially takes out pointers and the like from the FIFO memory, and transmits data in the storage area indicated by the taken out pointers and the like.
- the received data is stored in a predetermined storage area for reception (such as a reception buffer), and when the reception is completed (when the reception data has been stored), the storage area (reception A pointer or the like indicating a buffer or the like is stored in the FIFO memory.
- FIG. 9B shows an image of the processes in steps S21 and S23
- FIG. 9A shows an image of the processes in steps S24 and S26.
- each node 10 is demonstrated as what has the function of the filter 33 of illustration. It is assumed that the processing of steps S21 and S23 and the processing of steps S24 and S26 are realized by the filter 33.
- stations 1 and 2 are shown here, there may be other stations (may be regarded as omitted). An operation example related to packet reception in the station 1 will be described.
- the station 2 transmits its own data, it is passed to the station 1 via the line A and the line B.
- a station 2A line frame 31 and a station 2B line frame 32 shown in FIG. 1 are received by the station 1 from these two systems.
- the filter 33 takes either one of the two data frames 31 and 32 into the own station as the illustrated station 2 frame 34 with the first arrival priority or the second arrival priority.
- the station 1 transmits its own station data to both the lines A and B, and these are relayed by other stations such as the station 2 and finally return to the station 1. These are the station 1A line frame 41 and the station 1B line frame 42 shown in the figure. In this case, the filter 33 discards both of these two data frames 41 and 42 in step S23.
- the network topology to which this method is applied is not limited to the ring type or line type examples.
- a network topology as shown in FIG. 10 may be used as an example.
- each communication line 46 connecting any two nodes 10 is considered to correspond to the communication lines 12a, 12b, 12c, 12d and the communication lines 13a, 13b, 13c, 13d. It doesn't matter.
- the control network system of this example is not limited to Ethernet.
- FIG. 11 is a functional block diagram of the control network system of this example.
- the control network system of FIG. 11 includes a plurality of node devices 50.
- the control network system is a network system in which communication interference does not occur even when the plurality of node devices 50 transmit data simultaneously.
- the network to which the present technique is applied is, for example, a network that includes a plurality of communication lines 61 and each communication line connects between any two node devices 50 in a peer-to-peer relationship. . Furthermore, it is a full-duplex line. That is, it is composed of an uplink communication line and a downlink communication line. That is, even if each node device 50 transmits data at the same time, there is no network collision. Furthermore, communication between the node devices 50 that are not directly connected by the communication line 61 is also a network that is realized by relaying another node device 50.
- each node apparatus 50 has the 1st timer 51, the data transmission part 52, and the relay part 53, respectively. Further, a second timer 54 may be provided.
- An example of the first timer 51 may be the send timer 16 and an example of the second timer 54 may be the cycle timer 15.
- the data transmission unit 52 transmits the data of its own device to the adjacent station at a predetermined timing generated by the first timer 51 every predetermined data exchange period (within the scan time).
- the transmission destination is a downstream adjacent station.
- the relay unit 53 When the relay unit 53 receives transmission data from an arbitrary (upstream) adjacent station, the relay unit 53 acquires the transmission data and relays it to another adjacent station. And the predetermined timing by the said 1st timer 51 of all the node apparatuses 50 is made to become the same timing. It should be noted that the same is not completely the same, and there may be some deviation. That is, the same includes the case of almost the same.
- the predetermined timings by the first timers 51 of all the node devices 50 are made the same timing.
- the second timers 54 of all the node devices 50 need to be synchronized, but the present invention is not limited to this example.
- the synchronization method is a conventional technique. A data exchange cycle is generated by the second timer 54.
- reception / acquisition means for example, reception and acquisition, but is not limited to this example.
- control network system of the example shown in FIG. 11 includes a plurality of node devices 50 and a plurality of communication lines 61, and each communication line 61 connects two arbitrary node devices 50.
- Each node device 50 can communicate with the adjacent station, which is another node device 50 connected to the own device through a communication line. Communication between node devices that are not connected by a communication line is realized by one or more other node devices 50 being relayed by the relay unit 53.
- the communication line 61 is, for example, a full duplex line. Further, for example, the control network system of FIG. 11 is a ring type or line type network, but is not limited to this example.
- control network system of FIG. 11 is a network in which each node device is connected by a full-duplex communication line in a ring type or line type topology. Then, for example, the data transmission unit 52 transmits the data of its own device to both the full duplex systems.
- FIG. 1 shows an example of a ring type full-duplex line.
- An example of a line-type full-duplex line is shown in FIG.
- the configuration in FIG. 12 may be regarded as a configuration in which the communication line 12d and the communication line 13d do not exist in FIG.
- the transmission data of each node 10 does not return to its own station, and relaying is terminated when it reaches the nodes 10 at both ends (in this example, station 1 and station 4). Become.
- the relay unit 53 discards the received data without performing the relay.
- the relay unit 53 discards the received data without performing the relay.
- the transmission data of all the node devices 50 are received by all the other node devices 50 by repeating the above-described relay within the data exchange period, thereby exchanging data between all the node devices. Is completed.
- the node device 50 includes an arithmetic processor such as a CPU / MPU and a storage unit such as a memory.
- a predetermined application program is stored in the storage unit in advance.
- the processing functions of the data transmission unit 52 and the relay unit 53 are realized by the arithmetic processor executing this application program.
- the processing of the flowcharts shown in FIGS. 2A, 2B, 3, 4, and 5 is realized when the arithmetic processor executes this application program. .
- all the nodes 10 configuring the network simultaneously transmit their own station data using a timer synchronized with the timer of the master node by a node synchronization method such as Patent Document 2. Perform to adjacent nodes on both sides. After the transmission of the local station data is completed, all the nodes 10 respectively relay the frame data received from one adjacent node of the local node to the other adjacent node. In this way, it is possible to simultaneously use the full-duplex line transmission band between the constituent nodes, increase transmission efficiency, increase the transmission capacity of the entire network, and increase the data exchange cycle. Thus, for example, in a full duplex network system of a ring topology or a line topology, the amount of data on the network can be increased, and the data exchange cycle can be increased.
- the target is a control network system, and as described above, it is necessary to complete data exchange between all the nodes (within the scan time) every predetermined data exchange period, and thus each of the systems constituting the system It is assumed that nodes need to exchange data with each other while guaranteeing real-time performance.
- the application target is not limited to the above-mentioned “full-duplex line network system of ring topology or line topology”.
- the topology is not limited to the ring type or the line type.
- it is not limited to a full-duplex line, and may be a multiple line (such as a quadruple line) or a single line.
- the cycle timer 15 is first synchronized as the two-line configuration shown in FIG. Although it is made to operate with one line, it is not limited to this example.
- the cycle timers 15 of all the nodes are consequently synchronized. It may be.
- each node 10 is basically the same as the processing of FIG. 2 (a), FIG. 3, FIG. 4, and FIG. But some are different. That is, first, the process of step S12 is a process of transmitting data only to the line A. Further, regarding the reception process, since two packets are not received from both systems, the processes in steps S24 and S43 are deleted.
- the control network system of the present invention its node 10 and the like, when all nodes 10 that need data exchange mutually exchange data, the data exchange can be completed in a shorter time than before. Therefore, in the control system using the control network of the present invention, the data refresh cycle (periodic) can be increased, so that the control can be speeded up. Furthermore, productivity improvement in the customer system can be expected.
- the data exchange can be completed in a shorter time than before. Therefore, in the control system using the control network of the present invention, the data refresh cycle (periodic) can be increased, so that the control can be speeded up. Furthermore, productivity improvement in the customer system can be expected.
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Abstract
Description
図14に、上記特許文献1、2等の従来手法によるデータ交換の具体例を示す。
上記サイクルタイマによって、図示のように、データ交換周期(通信サイクル)であるスキャン時間101が生成される。スキャン時間101は、時刻合わせに使用する図示のTC帯域102及びデータ交換に使用する図示のTS帯域103で構成される。尚、TC帯域、TS帯域については、例えば特許文献2に記載の通りであり、ここでは特に説明しない。
図示の例では、4台のノード(局1、局2、局3、局4)が、それぞれ、上記上りと下りの2本の通信線によって、図示のようにリング型に接続されており、ネットワーク全体で右回り(時計回り)の通信経路を回線A、左回り(反時計回り)の通信経路を回線Bとする。回線Aの場合、例えば局1からの送信データは、局1→局3→局2→局4→局1というように、局3、局2、局4によって順次中継されて、局1に戻ってくる。同様に、回線Bの場合、例えば局1からの送信データは、局1→局4→局2→局3→局1というように、局4、局2、局3によって順次中継されて、局1に戻ってくる。
このようにして、全ての局1,2,3,4が、自局のデータを送信することになり、他局全てがそのデータを受信・取得することになる。つまり、全ての局が、自局のデータを他の全ての局に渡したことになる。
・所定のデータ交換周期毎に、所定のタイミングで、自装置のデータを隣接局へ送信するデータ送信手段;
・任意の隣接局からの送信データを受信した場合、該送信データを取得すると共に別の隣接局へ中継する中継手段;
そして、全てのノード装置の前記所定のタイミングを、同一タイミングとする。
図1(a)、(b)は、本例の制御ネットワークシステムの全体構成図である。
尚、図1には、全二重回線等であり且つトポロジとしてリング型であるネットワークシステムを例にしているが、本例の制御ネットワークシステムの構成は、この例に限らない。例えば、リング型ではなく、ライン型であってもよいし、後に図示する他の型であってもよい。また、全二重回線に限るものでもなく、例えばその2倍の回線数(全四重回線と呼ぶ)等であっても構わないし、1回線であっても構わない。また、図1には、構成ノードが4つである例を示すが、勿論、この例に限らない。
図2(a)は、自局データ送信の際のドライバ11の処理を示す。
ノード10が有する上記処理部14(CPU/MPU等)は、所定のソフトウェア(プログラム)等を実行することで、所定の制御処理等を実行している。そして、この処理の1つとして自局のデータを送信するイベントが発生した場合、このデータと送信要求をドライバ11に渡す。
図2(b)は、データ受信の際のドライバ11の処理を示す。
図3は、データ受信の際のドライバ11の処理フローチャート図(その2)である。
以下、まず、図3について説明する。
ドライバ11は、上記回線A,Bの何れかを介して任意のパケットを受信すると、図3の処理を実行する。まず、受信パケットの送信元をチェックして、送信元が自局である場合には(ステップS31,NO)、このパケットを破棄する(ステップS35)。尚、ステップS31、S35の処理は、上記ステップS21,S23の処理と同じであってよい。
上記図3の処理が図2(b)の処理と異なる点は、受信パケットの送信元が他局であり、且つ、最初のパケットを受信した場合に、このパケットの中継処理を行っている点である。
尚、図4の処理が図2の処理と異なる点は、ステップS21の代わりにステップS41の処理を実行する点であり、他の処理(ステップS42,S43,S44,S45)は、図2のステップS22,S24、S25、S23(またはS26)と同じであってよく、ここでは特に説明しない。
以上、図2、図3、図4の処理を纏めると、例えば下記のようになる。
図5は、ノード10の処理部14の処理を示すフローチャート図である。
また、発生したイベントが、コモンメモリフレーム受信である場合には(ステップS58,YES)、このコモンメモリフレームのデータを、不図示のコモンメモリの該当領域に格納する(ステップS59)。尚、ここでは、上記ステップS57の処理に応じて送信されるフレームを、コモンメモリフレームと呼ぶものとする。上記図2(b)等の処理により、任意の他局が上記ステップS57の処理により送信したコモンメモリフレームをドライバ11が受信し、これをドライバ11が上記ステップS25により処理部14に渡すと、上記ステップS58の判定がYESとなることになる。
すなわち、マスタノードは、上記コモンメモリフレームだけでなく、別タイミングで、サイクルタイマ15の同期化の為の同期化フレームを送信する場合がある。これは、任意の宛先ノードに対して送信するものである。宛先ノード以外の各ノード10は、この同期化フレームを受信すると、これを中継する。宛先ノードは、この同期化フレームを受信すると、中継せずに、同期応答フレームを送信元ノード(マスタノード)へ返信する。この処理が、図5に示すステップS60.S61の処理である。
そして、この最短ルートでのフレーム往復に要する時間が、マスタノードで計測され、この計測時間の半分の時間が、マスタノード-宛先スレーブノード間の通信時間(通信遅延時間)として算出されることになる。この通信遅延時間を用いてサイクルタイマ15の同期化を図る処理については、従来技術であり、ここでは特に説明しない。
設定値=TC帯域時間+(スロット単位時間×自局の割当スロット番号)
スロット単位時間は、上記送信タイムスロット(105,108等)の長さであり、一例としては、スロット単位時間=TS帯域時間÷局数、等とする。また、割当スロット番号は「‘0’と自然数」であり、例えば局数=N台とした場合、0、1,2,・・・、N-1の何れかが、各局に重複しないように割当てられるものである。
設定値=TC帯域時間+α(α;0または任意の正の値)。
図示のように、各ノード10毎に、サイクルタイマ15によって生成されるスキャン時間21(データ交換周期)毎に、上記ステップS54,S55の処理が実行されて、センドタイマ16が動作開始する。上記の通り、全てのノード10のセンドタイマ16には、任意の同一の値が設定されるので、図6に示すように全てのセンドタイマ16が同一タイミングでタイマアップする。これより、全てのノード10で同時に上記ステップS57の処理(自局データフレーム26の送信)が行われることになる。
尚、図示の例では、ノード10は5台あるものとし、図示の第1センドタイマ~第5センドタイマは、当該5台のノード10それぞれのセンドタイマ16を意味する。
尚、図6においてはサイクルタイマ15の動作を1つのみ示しているが、各ノード10は、それぞれ、自局のサイクルタイマ15に基づいて動作する。上記の通り、全てのサイクルタイマ15が同期している前提から、1つのみ示しているものである。
尚、図7は、図1に示す局1と局4の間に更に局5が設けられ、全体として5台のノード10から成る構成における動作を示すものとする。
つまり、回線Aに関しては、局1から見れば、下流側の隣接局は局2であり、上流側の隣接局は局5であることになる。これより、図7に示す回線Aに係わる動作の場合、局1の送信データ(その中が“局1”である矩形)は、局2が受信することになる。また、局1は、この“局1”データ送信中に、図示のように、“局5”データを受信開始することになる。“局1”データと“局5”データの送信タイミングは同じであるが、通信路による遅延等によって、受信タイミングが多少遅れる。
上記のことから、局2は、3つの自局データ(“局2”データ)を送信することになる。ここで、例えばドライバ11が後述するFIFOメモリと送信専用チップ(IC等)を備える構成の場合、ドライバ11は上記3つの“局2”データをFIFOメモリに格納する。送信専用チップはFIFOメモリの格納データを順次取り出して送信する。まず、上記3つの“局2”データのうち最初の“局2”データを取り出して送信開始する。図示の例では、この送信処理中に“局1”データを受信開始しており、“局1”データを受信完了したらこれをFIFOメモリに格納する。更に、その後、“局4”データを受信開始し、“局4”データを受信完了したらこれをFIFOメモリに格納する。
ここで、図1(b)に示す構成を用いて、図8の動作について更に説明する。
まず、図1(b)に示すドライバ11は、不図示のFIFOメモリと送信専用チップとを備えるものとする。FIFOメモリと送信専用チップ(IC等)は、回線A用と回線B用が、それぞれ、設けられている。例えば、回線A用の送信専用チップは、回線A用のFIFOメモリに任意の1以上のデータフレームがある場合には、これを順次、回線A上に送信する。例えば、局2の場合、通信線12b上に(つまり局3に対して)データフレームを送信することになる。
ここでは、各ノード10が図示のフィルタ33の機能を有するものとして説明する。フィルタ33によって、上記ステップS21,S23の処理やステップS24,S26の処理が、実現されるものとする。また、ここでは局1と局2のみ示すが、他の局もあっても構わない(省略しているものと見做して構わない)。そして、局1におけるパケット受信に係わる動作例を説明する。
図11の制御ネットワークシステムは、複数のノード装置50から成り、例えば概略的には、複数のノード装置50が同時にデータ送信しても、通信干渉が起きないネットワークシステムである。
そして、全てのノード装置50の上記第1タイマ51による所定のタイミングを、同一タイミングとなるようにすることを特徴とする。尚、同一とは完全に同一とは限らず、多少のズレがあっても構わない。つまり、同一は、ほぼ同一の場合も含むものとする。
また、例えば、図11の制御ネットワークシステムは、リング型またはライン型のネットワークであるが、この例に限らない。
あるいは、例えば、中継部53は、受信したデータの送信元が下流側の隣接局であった場合には、中継を行わずに、該受信データを破棄する。
Claims (14)
- 複数のノード装置が相互にデータ交換する制御ネットワークシステムにおいて、
前記各ノード装置は、
所定のデータ交換周期毎に、所定のタイミングで、自装置のデータを隣接局へ送信するデータ送信手段と、
任意の隣接局からの送信データを受信した場合、該送信データを取得すると共に別の隣接局へ中継する中継手段とを有し、
全てのノード装置の前記所定のタイミングを、同一タイミングとすることを特徴とする制御ネットワークシステム。 - 前記各ノード装置は、更に、第1タイマを有し、
該第1タイマを用いて前記所定のタイミングを生成することを特徴とする請求項1記載の制御ネットワークシステム。 - 前記データ交換周期内に、全ての前記ノード装置の送信データが、それぞれ、前記中継が繰り返されることによって全ての他のノード装置に受信されることで、全てのノード装置間の相互のデータ交換が完了することを特徴とする請求項1または2記載の制御ネットワークシステム。
- 前記中継手段は、前記受信したデータの送信元が自装置であった場合には、前記中継を行わずに、該受信データを破棄することを特徴とする請求項1または2記載の制御ネットワークシステム。
- 前記中継手段は、前記受信したデータの送信元が下流側の隣接局であった場合には、前記中継を行わずに、該受信データを破棄することを特徴とする請求項1または2記載の制御ネットワークシステム。
- 前記各ノード装置は、第2タイマを更に有し、
該第2タイマによって前記データ交換周期が生成され、
全てのノード装置の第2タイマは、同期されていることを特徴とする請求項1または2記載の制御ネットワークシステム。 - 前記全てのノード装置の前記第1タイマが、同一タイミングで起動し且つ同一時間後にタイマアップすることによって、全てのノード装置の前記所定のタイミングを同一タイミングとすることを特徴とする請求項2記載の制御ネットワークシステム。
- 全てのノード装置の前記第1タイマの設定値を同一とすることで、前記全てのノード装置の前記第1タイマによる前記所定のタイミングを、同一タイミングとすることを特徴とする請求項7記載の制御ネットワークシステム。
- 任意の前記ノード装置に係わる前記隣接局は、該ノード装置と通信線によって接続されており該ノード装置と直接通信可能である他のノード装置であることを特徴とする請求項1または2記載の制御ネットワークシステム。
- 前記制御ネットワークシステムは、複数の前記ノード装置と複数の通信線から成り、各通信線が任意の2つのノード装置間を接続しており、各ノード装置が前記通信線によって接続されている他のノード装置である前記隣接局と通信可能であり、通信線によって接続されていないノード装置間の通信は他の1以上のノード装置が中継することで実現するネットワークであることを特徴とする請求項1または2記載の制御ネットワークシステム。
- 前記制御ネットワークシステムは、リング型またはライン型のネットワークであることを特徴とする請求項1または2記載の制御ネットワークシステム。
- 前記制御ネットワークシステムは、リング型またはライン型のトポロジにて全二重の通信回線によって前記各ノード装置が接続されたネットワークであり、
前記データ送信手段は、該全二重の両系に前記自装置のデータを送信することを特徴とする請求項1または2記載の制御ネットワークシステム。 - 前記制御ネットワークシステムは、複数の前記ノード装置が同時にデータ送信しても、通信干渉が起きない制御ネットワークシステムであることを特徴とする請求項1または2記載の制御ネットワークシステム。
- 複数のノード装置が相互にデータ交換する制御ネットワークシステムにおける前記各ノード装置であって、
所定のデータ交換周期毎に、所定のタイミングで、自装置のデータを隣接局へ送信するデータ送信手段と、
任意の隣接局からの送信データを受信した場合、該送信データを取得すると共に別の隣接局へ中継する中継手段とを有し、
前記所定のタイミングが、他の全てのノード装置における前記所定のタイミングと、同一タイミングであることを特徴とする制御ネットワークシステムにおけるノード装置。
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