WO2018158829A1

WO2018158829A1 - Control system, master apparatus, slave apparatus and control method

Info

Publication number: WO2018158829A1
Application number: PCT/JP2017/007825
Authority: WO
Inventors: 剛資三輪
Original assignee: 三菱電機株式会社
Priority date: 2017-02-28
Filing date: 2017-02-28
Publication date: 2018-09-07
Also published as: JPWO2018158829A1

Abstract

A control system comprises: a master apparatus (10) that assigns a first identifier and a second identifier to first data serving as data for controlling a controlled device, generates a first frame, and transmits the first frame to a slave apparatus; and a slave apparatus (20, 30) that receives, on the basis of the first identifier, the first frame addressed to the slave apparatus, and outputs, on the basis of the second identifier, the first data included in the first frame to a corresponding controlled device.

Description

Control system, master device, slave device, and control method

The present invention relates to a control system, a master device, a slave device, and a control method in which a master device controls a controlled device connected to a slave device.

Conventionally, when a master device that controls a controlled device such as a sensor or a robot controls the controlled device via a network, a part of the control function of the master device is delegated to the slave device, and the controlled device is controlled via the slave device. There is a control system that can reduce the load on the master device itself by controlling the control device. Between the master device and the slave device, communication called “safety communication”, for example, control used to reliably stop the device when an abnormality occurs in the device is performed. In such a control system, a master device and a slave device are assigned CID (Connection IDentification) for identifying each device. Each device transmits a frame of safety data including the CID of the communication partner device in the header, and establishes a dedicated safety connection between the master device and the slave device that transmits and receives the frame including the CID. In the control system, safe communication can be performed between specific devices.

In Patent Document 1, in a network in which a plurality of master devices and a plurality of slave devices are connected, each device communicates between a specific master device and a slave device by using an identifier that identifies a communication partner device. Techniques for performing are disclosed.

JP 2001-257696A

However, according to the above-described conventional technology, when the number of controlled devices to be controlled is increased in the control system while ensuring safety communication, there is only one safety connection between the master device and the slave device for performing safety communication. Since it cannot be established, the number of slave devices connected to controlled devices must be increased. For this reason, there is a problem that as the number of controlled devices increases, the number of slave devices also increases and the network configuration increases.

The present invention has been made in view of the above, and an object of the present invention is to obtain a control system that performs safety communication capable of increasing the number of controlled devices while controlling an increase in slave devices.

In order to solve the above-described problems and achieve the object, the control system of the present invention assigns a first identifier and a second identifier to first data that is data for controlling a controlled device. A master device that generates one frame and transmits it to a slave device; receives a first frame addressed to the own device based on a first identifier; and includes a first frame included in the first frame based on a second identifier. And a slave device that outputs the data of 1 to a corresponding controlled device.

The control system according to the present invention has an effect that the number of controlled devices can be increased while suppressing an increase in the number of slave devices.

The figure which shows the structural example of the control system concerning Embodiment 1. FIG. The figure which shows the example of the frame format of the 1st flame | frame produced | generated in the frame process part of the master apparatus concerning Embodiment 1, ie, safety data. The figure which shows the example of the frame format of a network frame when the network process part of the master apparatus concerning Embodiment 1 transmits the 1st frame, ie, safety data, for every slave apparatus collectively. The figure which shows the example of the actual system configuration | structure of the control system concerning Embodiment 1. FIG. 6 is a flowchart showing processing of a frame processing unit of the master device according to the first embodiment; 3 is a flowchart showing processing of a network processing unit of the master device according to the first embodiment. FIG. 3 is a flowchart illustrating processing of the network processing unit of the slave device according to the first embodiment; 3 is a flowchart showing processing of a frame processing unit of the slave device according to the first embodiment. FIG. 3 is a diagram illustrating an example in which the processing circuit of the master device according to the first embodiment is configured by a CPU and a memory. The figure which shows the structural example of the control system concerning Embodiment 2. FIG. The figure which shows the example of the actual system configuration | structure of the control system concerning Embodiment 2. FIG. 10 is a flowchart showing processing of a frame processing unit of the slave device according to the second embodiment. 10 is a flowchart showing processing of a frame processing unit of the slave device according to the second embodiment.

Hereinafter, a control system, a master device, a slave device, and a control method according to an embodiment of the present invention will be described in detail with reference to the drawings. Note that the present invention is not limited to the embodiments.

Embodiment 1 FIG.
FIG. 1 is a diagram illustrating a configuration example of a control system 1 according to the first embodiment of the present invention. The control system 1 includes a master device 10 that controls a controlled device, and

slave devices

20 and 30 that perform a part of the functions of the master device. In the control system 1, each of the master device 10 and the

slave devices

20 and 30 is connected via a network 40. An I / O (Input / Output) device 81 and a robot 82 are connected to the slave device 20. In addition, an I / O device 83, a robot 84, and a sensor 85 are connected to the slave device 30. In the control system 1, the master device 10 controls the I / O device 81, the robot 82, the I / O device 83, the robot 84, and the sensor 85 that are controlled devices via the network 40 and the

slave devices

20 and 30. System. The master device 10 is, for example, a PLC (Programmable Logic Controller). In FIG. 1, the notation of the I / O device is abbreviated as “I / O”. The same applies to the subsequent figures.

The control system 1 shown in FIG. 1 includes one master device and two slave devices. However, this is an example, and there may be two or more master devices, or one or three or more slave devices. It may be. Two controlled devices are connected to the slave device 20, and three controlled devices are connected to the slave device 30, but this is an example, and the number of controlled devices connected to the slave device is one or There may be four or more. The controlled devices connected to the

slave devices

20 and 30 are not limited to the I / O devices, robots, and sensors shown in FIG. 1, and may be other devices. The network 40 is, for example, a communication network that performs communication using Ethernet (registered trademark), but is not limited thereto.

The configuration of the master device 10 will be described. The master device 10 includes

control units

11, 12, 13,

frame processing units

14, 15, 16, and a network processing unit 17. In the master device 10, the control unit 11 is connected to the frame processing unit 14, the control unit 12 is connected to the frame processing unit 15, and the control unit 13 is connected to the frame processing unit 16. The frame processing units 14 to 16 are connected to the network processing unit 17.

The control units 11 to 13 each correspond to one controlled device connected to the

slave devices

20 and 30, and generate first data that is data for controlling the corresponding controlled device. Each of the control units 11 to 13 outputs the generated first data to the connected frame processing unit among the frame processing units 14 to 16. In addition, the control units 11 to 13 are connected to the second device generated by the controlled device via the connected frame processing unit among the

slave devices

20 and 30, the network 40, the network processing unit 17, and the frame processing units 14 to 16. Get the data. The control units 11 to 13 perform communication with a corresponding controlled device using a communication protocol corresponding to each controlled device. The control units 11 to 13 perform, for example, safety communication with the controlled device. The first data and the second data are data transmitted and received when the control units 11 to 13 and the controlled device perform safety communication. In the following description, as an example, the operations of the master device 10 and the

slave devices

20 and 30 when the control units 11 to 13 and the controlled device perform safety communication will be described. In the present embodiment, communication performed between the control units 11 to 13 and the controlled device is referred to as safety communication for convenience, but communication for establishing a dedicated safety connection between the master device and the slave device. Or what is necessary is just to communicate preferentially over other communications between a master device and a slave device.

When the frame processing units 14 to 16 obtain the first data from the connected control unit among the control units 11 to 13, respectively, the frame processing units 14 to 16 assign the CID and the sub-CID to the first data, that is, the first frame, that is, the safety Generate data. The frame processing units 14 to 16 output the generated first frame to the network processing unit 17. Here, the CID is an identifier for identifying the individual device, in the example of the control system 1 shown in FIG. 1, the master device 10 and the

slave devices

20 and 30. The sub CID is an identifier indicating a data processing path in each device. Let the CID be the first identifier and the sub-CID be the second identifier. The frame processing units 14 to 16 establish a safety connection for performing safety communication with the frame processing unit of the slave device, which will be described later, and perform safety communication. The CID is an identifier for identifying the master device 10 and identifying the

slave devices

20 and 30.

FIG. 2 is a diagram illustrating an example of a frame format of the first frame, that is, the safety data generated in the frame processing units 14 to 16 of the master device 10 according to the first embodiment. In FIG. 2, the data portion is the portion where the first data generated by the control units 11 to 13 is stored, and the header and CRC (Cyclic Redundancy Check) portions are assigned by the frame processing units 14 to 16. Part. The frame processing units 14 to 16 generate the first frame by including the CID and the sub-CID in the header part. Note that safety data refers to data transmitted by safety communication.

Further, when the frame processing units 14 to 16 obtain the second frame, that is, the safety data transmitted from the

slave devices

20 and 30 from the network processing unit 17, the header including the CID and the sub-CID from the second frame, and The CRC is removed to obtain the second data, and the obtained second data is output to the connected control unit among the control units 11-13. The frame format of the second frame, that is, the safety data transmitted from the

slave devices

20 and 30 is the same as that in FIG.

The CID and sub-CID are set in advance for each device and each frame processing unit by the administrator of the control system 1 when the control system 1 is constructed. As will be described later, depending on the specific configuration of the master device 10 and the

slave devices

20 and 30, the sub CID may be automatically assigned in each device.

When the network processing unit 17 acquires the first frame from the frame processing units 14 to 16, the network processing unit 17 assigns an Ethernet frame header, an application header, and a footer to the first frame, and sends the first frame to the slave device via the network 40. A network frame to be transmitted to 20 and 30 is generated. Based on the CID assigned to the header of the first frame, the network processing unit 17 sets the slave device corresponding to the CID as the destination in the Ethernet frame header, and transmits the network frame to the network 40. Further, when the network processing unit 17 acquires the first frame from the plurality of frame processing units 14 to 16, one network, in this case, a plurality of first frames is assigned to each slave device having the same destination based on the CID. Transmit as one network frame.

FIG. 3 is a diagram illustrating an example of a frame format of the network frame when the network processing unit 17 of the master device 10 according to the first embodiment transmits the first frame, that is, the safety data for each slave device. The network processing unit 17 transmits the same CID in the first frame shown in FIG. 2 in one network frame as shown in FIG. Although not shown, it is assumed that the address of the slave device that is the destination is set in the Ethernet frame header based on the CID, as in the case of a general Ethernet frame. The CID may be the same as the address of the slave device or the master device, or may be different from the address as long as the address of the slave device or the master device can be uniquely specified. As a result, the master device 10 adds the Ethernet frame header, the application header, and the footer to all the first frames, and assigns the first frame, that is, the network frame including one safety data to the number of the first frames. The number of frames on the network 40 can be reduced as compared with the case where only the transmission is performed. As a result, the control system 1 can suppress an increase in traffic on the network 40.

Further, the network processing unit 17 is transmitted from the

slave devices

20 and 30 based on the destination of the Ethernet frame header of the network frame transmitted from the

slave devices

20 and 30, that is, the CID assigned to the header of the second frame. The network frame addressed to its own device is received via the network 40. When the network processing unit 17 receives the network frame addressed to itself, the network processing unit 17 removes the Ethernet frame header, the application header, and the footer from the network frame, and acquires a second frame, that is, safety data. The network processing unit 17 outputs the second frame to the frame processing unit corresponding to the sub CID among the frame processing units 14 to 16 based on the sub CID assigned to the header of the second frame.

When the

slave devices

20 and 30 are transmitting a plurality of second frames as one network frame for each master device having the same destination, the network processing unit 17 transmits the plurality of second frames. When the network frame including the received frame is received, each second frame is sent to the frame processing unit corresponding to the sub-CID among the frame processing units 14 to 16 based on the sub-CID assigned to the header of each second frame. 2 frames are output. The frame format when the

slave devices

20 and 30 transmit a plurality of second frames as one network frame for each master device having the same destination is the same as that in FIG.

Next, the configuration of the

slave devices

20 and 30 will be described. The slave device 20 includes a network processing unit 21 and

frame processing units

22 and 23. In the slave device 20, the frame processing unit 22 is connected to the I / O device 81, and the frame processing unit 23 is connected to the robot 82. The

frame processing units

22 and 23 are connected to the network processing unit 21. The slave device 30 includes a network processing unit 31 and

frame processing units

32, 33, and 34. In the slave device 30, the frame processing unit 32 is connected to the I / O device 83, the frame processing unit 33 is connected to the robot 84, and the frame processing unit 34 is connected to the sensor 85. The frame processing units 32 to 34 are connected to the network processing unit 31. Since the

slave devices

20 and 30 have the same configuration except for the number of frame processing units, the slave device 20 will be described as an example.

The network processing unit 21 determines the network frame transmitted from the master device 10 based on the destination of the Ethernet frame header of the network frame transmitted from the master device 10, that is, the CID assigned to the header of the first frame. A network frame addressed to the apparatus is received via the network 40. When the network processing unit 21 receives the network frame addressed to itself, the network processing unit 21 removes the Ethernet frame header, the application header, and the footer from the network frame, and acquires the first frame, that is, the safety data. The network processing unit 21 outputs the first frame to the frame processing unit corresponding to the sub CID among the

frame processing units

22 and 23 based on the sub CID assigned to the header of the first frame.

When the master device 10 transmits a plurality of first frames as one network frame for each slave device having the same destination, the network processing unit 21 receives a network frame including the plurality of first frames. Each first frame is output to the frame processing unit corresponding to the sub CID among the

frame processing units

22 and 23 based on the sub CID assigned to the header of each first frame.

Further, when the network processing unit 21 acquires the second frame from the

frame processing units

22 and 23, the network processing unit 21 adds an Ethernet frame header, an application header, and a footer to the second frame, and sends the second frame via the network 40. A network frame to be transmitted to the master device 10 is generated. Based on the CID assigned to the header of the second frame, the network processing unit 21 sets the master device corresponding to the CID as the destination in the Ethernet frame header, and transmits the network frame to the network 40. Further, when the network processing unit 21 acquires the second frame from the plurality of

frame processing units

22 and 23, based on the CID, the network processing unit 21 converts the plurality of second frames into one frame for each master device having the same destination, here Transmit as one network frame.

The network processing unit 21 transmits the same CID in the second frame in a network frame as shown in FIG. Thereby, the slave device 20 adds the Ethernet frame header, the application header, and the footer to all the second frames, and the second frame, that is, the network frame including one piece of safety data is added to the number of the second frames. The number of frames on the network 40 can be reduced as compared with the case where only the transmission is performed. As a result, the control system 1 can suppress an increase in traffic on the network 40.

When the

frame processing units

22 and 23 obtain the first frame, that is, the safety data transmitted from the network processing unit 21 by the master device 10, the

frame processing units

22 and 23 remove the header including the CID and the sub-CID and the CRC from the first frame. The first data is acquired, and the acquired first data is output to the controlled device to be connected.

In addition, when each of the

frame processing units

22 and 23 acquires the second data from the controlled device to be connected, the

frame processing units

22 and 23 add the CID and the sub-CID to the second data and generate the second frame, that is, the safety data. . The

frame processing units

22 and 23 output the generated second frame to the network processing unit 21. Similar to the frame processing units 14 to 16 of the master device 10, the

frame processing units

22 and 23 generate a second frame by adding a header including a CID and a sub-CID and a CRC to the second data. The

frame processing units

22 and 23 establish safety connection for performing safety communication with the frame processing unit of the master device described above, and perform safety communication.

Here, the actual configuration of the control system 1 will be described. FIG. 4 is a diagram illustrating an example of an actual system configuration of the control system 1 according to the first embodiment. In FIG. 1, the master device 10 and the

slave devices

20 and 30 constituting the control system 1 are represented by functional blocks. However, in FIG. 4, the device is actually represented in units.

The master device 10 includes a network unit 104 and optional (hereinafter referred to as OPU) units 101 to 103. The network unit 104 is a device that implements the network processing unit 17 of FIG. Each OPU unit is a device that realizes one set of control unit and frame processing unit in FIG. As described above, in the master device 10, the number of combinations of control units and frame processing units can be easily increased by adding OPU units. Although not shown in FIG. 4, the master device 10 may include a base unit, and the network unit 104 and the OPU units 101 to 103 may be connected to the slots of the base unit. In this case, in the master device 10, the number of OPU units is determined by the number of slots in the base unit.

Since the

slave devices

20 and 30 have the same configuration except for the number of units, the slave device 20 will be described as an example. The slave device 20 includes a network unit 203 and

units

201 and 202. The network unit 203 is a device that implements the network processing unit 21 of FIG. Each unit is a device that realizes one frame processing unit in FIG. Thus, in the slave device 20, the number of frame processing units can be easily increased by adding more units. Although omitted in FIG. 4, the slave device 20 may include a base unit, and the network unit 203 and the

units

201 and 202 may be connected to the slots of the base unit. In this case, in the slave device 20, the number of units is determined by the number of slots of the base unit.

In the control system 1 shown in FIG. 4, the CID is a station number set for each device in order to identify each device, and specifically indicates the position of each device in the network 40. The CID may be the address of the master device 10 or the

slave devices

20 and 30 as described above. The sub CID is a number set for identifying the physical position in each device, and specifically indicates the slot position of the frame processing unit in each device.

In the master device 10, when the number of connectable OPU units is determined, sub-CIDs corresponding to the number of connectable OPU units may be set in advance. Thereby, the master device 10 sets the position of the OPU unit corresponding to the controlled device connected to the slave device, so that the sub-CID of the frame processing unit of the OPU unit, specifically the master device 10 shown in FIG. Can be set automatically. Similarly, in the

slave devices

20 and 30, when the number of connectable units is determined, sub-CIDs corresponding to the number of connectable units may be set in advance. Thus, the

slave devices

20 and 30 set the position of the unit corresponding to the frame processing unit of the master device, so that the unit, specifically, the sub CID of the frame processing unit of the

slave devices

20 and 30 shown in FIG. Can be set automatically.

Next, processing of each device when safety data is transmitted from the master device 10 to the

slave devices

20 and 30 in the safety communication performed in the control system 1 will be described.

FIG. 5 is a flowchart showing processing of the frame processing units 14 to 16 of the master device 10 according to the first embodiment. When the control units 11 to 13 generate data for safety communication with respect to the controlled device, the frame processing units 14 to 16 obtain data from the control units 11 to 13 (step S1). The frame processing units 14 to 16 add the header including the CID and the sub-CID and the CRC to the acquired data, generate safety data, and output it to the network processing unit 17 (step S2).

FIG. 6 is a flowchart of a process performed by the network processing unit 17 of the master device 10 according to the first embodiment. The network processing unit 17 first selects one frame processing unit in order to acquire safety data from all the frame processing units (step S11). When the network processing unit 17 acquires the safety data from the selected frame processing unit (step S12), the network processing unit 17 confirms the CID of the safety data (step S13). The network processing unit 17 adds the acquired safety data to the target network frame of the corresponding CID among the network frames generated for each CID, that is, for each destination slave device (step S14). When there is a frame processing unit that has not been completed for all the frame processing units, that is, there is a frame processing unit that has not been selected (step S15), the network processing unit 17 returns to step S11 and selects the next frame processing unit. When the network processing unit 17 repeatedly performs the same processing and ends all the frame processing units, that is, when there is no frame processing unit that has not been selected (step S15), the network processing unit 17 sets each network frame as a destination slave. It transmits to the apparatus (step S16).

In the master device 10, it is assumed that the frame processing units 14 to 16 and the network processing unit 17 periodically perform the processing shown in FIGS. 5 and 6 described above.

FIG. 7 is a flowchart of a process performed by the network processing unit 21 of the slave device 20 according to the first embodiment. Since the processing of the

slave devices

20 and 30 is the same, the slave device 20 will be described as an example. When receiving a network frame from the master device 10 (step S21), the network processing unit 21 selects one piece of safety data from the network frame (step S22). The network processing unit 21 extracts the selected safety data from the network frame (step S23), and confirms the sub-CID of the extracted safety data (step S24). The network processing unit 21 outputs the extracted safety data to the sub-CID target frame processing unit (step S25). If there is unfinished safety data for all safety data, that is, there is safety data that has not been selected (step S26), the network processing unit 21 returns to step S22 and selects the next safety data. The network processing unit 21 ends the process when the same process is repeated and the process is completed for all the safety data, that is, when there is no unselected safety data (step S26).

FIG. 8 is a flowchart showing processing of the

frame processing units

22 and 23 of the slave device 20 according to the first embodiment. When acquiring the safety data from the network processing unit 21, the

frame processing units

22 and 23 remove the header and CRC from the acquired safety data and acquire the data for safety communication generated by the control unit of the master device 10 ( Step S31). The

frame processing units

22 and 23 output the acquired data to the controlled device to be connected (step S32).

The operation of transmitting safety data from the master device 10 to the

slave devices

20 and 30 has been described. However, when safety data is transmitted from the

slave devices

20 and 30 to the master device, the flow of safety data is reversed, and each frame processing unit Each network processing unit performs the opposite operation. That is, in the slave device 20, the

frame processing units

22 and 23 generate safety data and the network processing unit 21 sends the network frame including the safety data to the master device 10 by the same processing as the flowcharts shown in FIGS. Send. Further, in the master device 10, the network processing unit 17 acquires the safety data when the network processing unit 17 receives the network frame by the same processing as the flowcharts shown in FIGS. The data for safety communication generated in step 1 is acquired and output to the control units 11-13. In the case of the master device 10, the output destination of the data in step S32 in FIG. 8 is not the controlled device but the control units 11-13. A process in which the master device 10 transmits safety data is defined as a first transmission step, and a process in which the slave device 20 receives safety data is defined as a first reception step. Further, the process in which the slave device 20 transmits safety data is referred to as a second transmission step, and the process in which the master device 10 receives safety data is referred to as a second reception step.

Next, the hardware configuration of the master device 10 will be described. In the master device 10, the control units 11 to 13, the frame processing units 14 to 16, and the network processing unit 17 are realized by a processing circuit. The processing circuit is, for example, a CPU (Central Processing Unit) that executes a program stored in the memory and a memory.

FIG. 9 is a diagram illustrating an example in which the processing circuit of the master device 10 according to the first embodiment is configured by a CPU and a memory. When the processing circuit includes the CPU 91 and the memory 92, each function of the master device 10 is realized by software, firmware, or a combination of software and firmware. Software or firmware is described as a program and stored in the memory 92. In the processing circuit, each function is realized by the CPU 91 reading and executing the program stored in the memory 92. That is, in the master device 10, the processing circuit includes a memory 92 for storing a program that is executed as a result of transmitting and receiving a frame including two identifiers of CID and sub-CID. Further, it can be said that these programs cause the computer to execute the procedure and method of the master device 10. Here, the CPU 91 may be a processing device, an arithmetic device, a microprocessor, a microcomputer, a processor, a DSP (Digital Signal Processor), or the like. The memory 92 is, for example, non-volatile or volatile, such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable ROM), EEPROM (registered trademark) (Electrically EPROM), etc. Such semiconductor memory, magnetic disk, flexible disk, optical disk, compact disk, mini disk, DVD (Digital Versatile Disc), and the like are applicable.

As described above, the processing circuit can realize the functions described above by software, firmware, or a combination thereof.

The

slave devices

20 and 30 described for the hardware configuration of the master device 10 can also be realized by the same hardware configuration as that of the master device 10.

As described above, according to the present embodiment, the control unit for setting the CID for identifying each device in the master device 10 and the

slave devices

20 and 30 and controlling the controlled device in the master device 10. Sub-CIDs are set in the frame processing unit connected to the control unit and the frame processing unit connected to the controlled device in the

slave devices

20 and 30, and the master device 10 and the

slave devices

20 and 30 have two identifiers, CID and sub-CID. It is decided to generate safety data including and communicate between each device. As a result, the control system 1 can increase the number of controlled devices while controlling an increase in the number of slave devices because the master device can control the plurality of controlled devices while the slave device is connected to the plurality of controlled devices. Can do. In addition, the control system 1 can simultaneously perform safety communication for a plurality of controlled devices between the master device 10 and the

slave devices

20 and 30.

That is, in the prior art, since there is only a CID as an identifier for identifying a device, even if the number of CIDs is increased, only one safety connection can be established between the master device and the slave device. In this form, the CID for identifying the device and the sub CID for identifying the processing route of the data to the controlled device are used to establish a safety connection corresponding to the combination of the CID and the sub CID. Thereby, for example, when there are two CIDs and three sub CIDs, the control system 1 can establish a total of six safety connections even if there are two master devices and two slave devices. . Therefore, the number of safety connections for safety communication can be increased without increasing the number of slave devices.

Further, when transmitting the safety data, the master device 10 and the

slave devices

20 and 30 transmit the safety data addressed to the same device as one network frame for each destination device. Thereby, an increase in the number of frames in the network 40 can be suppressed.

Further, since the network processing unit 17 of the master device 10 and the

network processing units

21 and 31 of the

slave devices

20 and 30 only confirm the CID and the sub-CID for the safety data, the safety data itself is affected. Without being transmitted to the network 40.

In the present embodiment, three frame processing units 14 to 16 of the master device 10 are provided, two

frame processing units

22 and 23 of the slave device 20 are provided, and three frame processing units 32 to 33 of the slave device 30 are provided. Needless to say, it is not limited to this number. Also, a plurality of frame processing units 14 to 16 of the master device 10,

frame processing units

22 and 23 of the slave device 20, and a plurality of frame processing units 32 to 33 of the slave device 30 are described for convenience. There may be a plurality of frames, and the number of frame processing units may be one.

In the present embodiment, the data processing path is used for the sub-CID. In short, an identifier different from the CID that is the first identifier may be provided. You may make it utilize the unique identification number which a control apparatus has.

In the present embodiment, two types of identifiers are used: a CID that is a first identifier and a sub-CID that is a second identifier. However, a further identifier following the second identifier is also used. Also good.

Embodiment 2. FIG.
In the second embodiment, a case will be described in which a master device has a redundant configuration in a control system, and the control system includes a control master device and a standby master device.

FIG. 10 is a diagram of a configuration example of the control system 1a according to the second embodiment. The control system 1 a includes a master device 50 that is a master device of a control system, a master device 60 that is a standby master device, and a slave device 70. The control system 1a includes a plurality of master devices. In the control system 1a, of the plurality of master devices, one master device is a master device 50 that is a control-system master device, and the other master device is a master device 60 that is a standby-system master device. In the control system 1a, the master device 50 and the slave device 70 are connected via a network 41. The master device 60 and the slave device 70 are connected via the network 42.

Master devices

50 and 60 are connected by a tracking line 43. An I / O device 86, a robot 87, and a sensor 88 are connected to the slave device 70. The control system 1a is a system in which the master device 50 and the master device 60 control the I / O device 86, the robot 87, and the sensor 88, which are controlled devices, via the

networks

41 and 42 and the slave device 70. The master device 50, which is a control master device, is referred to as a first master device, and the master device 60, which is a standby master device, is referred to as a second master device.

In the control system 1a, it can be set by the CID that the master device 50 is a control master device and the master device 60 is a standby master device. The slave device 70 can recognize whether the safety data is from the master device 50 or the master device 60 by confirming the destination of the Ethernet frame header of the received network frame, that is, the CID of the safety data. When the slave device 70 receives the network frame including the safety data from the master device 50, the slave device 70 uses the network frame safety data received from the master device 50, and does not receive the network frame including the safety data from the master device 50. When a network frame including safety data is received from the device 60, the network frame safety data received from the master device 60 is used.

In FIG. 10, the configuration of the

master devices

50 and 60 is the same as that of the master device 10 of the first embodiment. Each of the

master devices

50 and 60 independently generates safety data and transmits it to the slave device 70 as a network frame.

Master devices

50 and 60 each receive a network frame including safety data from slave device 70.

In FIG. 10, in the slave device 70, the frame processing units 72 to 74 generate safety data by adding the CID and sub CID of the master device 50 to the data acquired from the controlled device, and output it to the network processing unit 71. To do. Further, the frame processing units 72 to 74 generate safety data by adding the CID and sub-CID of the master device 60 to the data acquired from the controlled device, and output the safety data to the network processing unit 71. As described above, the frame processing units 72 to 74 generate two pieces of safety data for the control system and the standby system. Note that the method of generating individual safety data in the frame processing units 72 to 74 is the same as that of the

frame processing units

22 and 23 of the first embodiment. In the frame processing units 72 to 74, the processing when the first frame is acquired from the network processing unit 71 is the same as the

frame processing units

22 and 23 of the first embodiment.

When the network processing unit 71 acquires the safety data addressed to the master device 50 from the frame processing units 72 to 74, the network processing unit 71 collects the safety data into one network frame and transmits it to the master device 50. Further, when the network processing unit 71 acquires the safety data addressed to the master device 60 from the frame processing units 72 to 74, the network processing unit 71 collects the safety data into one network frame and transmits it to the master device 60.

The network processing unit 71 uses the safety data included in the network frame received from the master device 50 when the network frame is received from the master device 50, and the master device when the network frame is received from the master device 60. The network frame received from 60 is discarded. When the network processing unit 71 does not receive a network frame from the master device 50 and receives a network frame from the master device 60, the network processing unit 71 uses the safety data included in the network frame received from the master device 60. The network processing unit 71 acquires safety data from the network frame that has been determined to be used. The processing for the network frame decided to be used in the network processing unit 71 is the same as the network processing unit 21 in the first embodiment.

Thus, in the control system 1a, when the slave device 70 can communicate with both the master device 50 and the master device 60, the slave device 70 performs safety communication between the two master devices. Thus, when the slave device 70 becomes unable to perform safety communication with the master device 50, the slave device 70 can immediately perform safety communication using the safety data received from the master device 60.

The configuration of the actual control system 1a will be described. FIG. 11 is a diagram illustrating an example of an actual system configuration of the control system 1a according to the second embodiment. In FIG. 10, the

master devices

50 and 60 and the slave device 70 constituting the control system 1a are represented by functional blocks, but in FIG. 11, they are represented in units of devices that are actually used.

The master device 50 includes a network unit 504 and OPU units 501 to 503. The network unit 504 is a device that implements the network processing unit 57 of FIG. Each OPU unit is a device that realizes one set of control unit and frame processing unit in FIG. The master device 60 has the same configuration. The configuration of

master devices

50 and 60 is the same as that of master device 10 of the first embodiment shown in FIG.

The slave device 70 includes a network unit 704 and units 701 to 703. The network unit 704 is a device that implements the network processing unit 71 of FIG. Each unit is a device that realizes one frame processing unit in FIG. The configuration of slave device 70 is the same as that of

slave devices

20 and 30 of the first embodiment shown in FIG.

Next, processing of each device when safety data is transmitted from the

master devices

50 and 60 to the slave device 70 in the safety communication performed in the control system 1a will be described. In this case, each of

master devices

50 and 60 performs the same processing as master device 10 of the first embodiment shown in the flowcharts of FIGS. Further, the network processing unit 71 of the slave device 70 performs the same processing as the network processing unit 21 of the slave device 20 of the first embodiment shown in the flowchart of FIG.

FIG. 12 is a flowchart showing processing of the frame processing units 72 to 74 of the slave device 70 according to the second embodiment. When the frame processing units 72 to 74 acquire the safety data from the network processing unit 71, the frame processing units 72 to 74 remove the header and CRC from the acquired safety data and are generated by the control unit of the control system master device 50 or the standby system master device 60. Data for secure communication is acquired (step S31). The frame processing units 72 to 74 confirm the master frame data transmitted from which master device. Specifically, when acquiring data from the control system master device 50 (step S41: Yes), the frame processing units 72 to 74 determine to use the data acquired from the control system master device 50 (step S41: Yes). Step S42). If the frame processing units 72 to 74 also acquire data from the standby master device 60 (step S43: Yes), the frame processing units 72 to 74 discard the data acquired from the standby master device 60 (step S44). If the frame processing units 72 to 74 have not acquired data from the standby master device 60 (step S43: No), the processing of step S44 is omitted. When the frame processing units 72 to 74 have not acquired data from the control master device 50 (step S41: No), the frame processing units 72 to 74 have acquired data from the standby master device 60 (step S45). To use the data obtained from the master device 60 (step S46). The frame processing units 72 to 74 output the acquired data to the connected controlled device (step S32).

Next, a case where safety data is transmitted from the slave device 70 to the

master devices

50 and 60 will be described. FIG. 13 is a flowchart showing processing of the frame processing units 72 to 74 of the slave device 70 according to the second embodiment. The frame processing units 72 to 74 acquire data from the controlled devices to which they are connected (step S51). The frame processing units 72 to 74 generate safety data for the two

master devices

50 and 60 using the acquired data, and output them to the network processing unit 71 (step S52). Specifically, the frame processing units 72 to 74 generate safety data by adding the header including the CID and sub CID of the control system master device 50 and CRC to the acquired data, and output the safety data to the network processing unit 71 To do. In addition, the frame processing units 72 to 74 generate safety data by adding the header and CRC including the CID and sub-CID of the standby master device 60 to the acquired data, and output the safety data to the network processing unit 17.

Regarding the processing of the network processing unit 71, the safety data for the control master device 50 acquired from the frame processing units 72 to 74 and the safety data for the standby master device 60 acquired from the frame processing units 72 to 74 are used. On the other hand, the same operation as the network processing unit 17 of the master device 10 of the first embodiment shown in FIG. 6 is performed.

Each of the control master device 50 and the standby master device 60 performs the same processing as that of the slave device 20 of the first embodiment shown in the flowcharts of FIGS.

The hardware configurations of the

master devices

50 and 60 and the slave device 70 are realized by the same configuration as that of the first embodiment shown in FIG.

As described above, according to the present embodiment, when the control system 1a includes the control master device 50 and the standby master device 60, each of the

master devices

50 and 60 is the master of the first embodiment. Processing similar to that of the apparatus 10 is performed. When the slave device 70 receives safety data from the master device 50, the slave device 70 uses the safety data received from the master device 50, while receiving safety data from the master device 60 without receiving safety data from the master device 50. In this case, the safety data received from the standby master device 60 is used. Thereby, in the control system 1a, when the slave device 70 becomes unable to perform safety communication with the master device 50, safety communication can be performed immediately using the safety data received from the master device 60.

The configuration described in the above embodiment shows an example of the contents of the present invention, and can be combined with another known technique, and can be combined with other configurations without departing from the gist of the present invention. It is also possible to omit or change the part.

1,

1a control system

10, 50, 60 master device, 11-13, 51-53, 61-63 control unit, 14-16, 22, 23, 32-34, 54-56, 64-66, 72- 74, frame processing unit, 17, 21, 31, 57, 67, 71 network processing unit, 20, 30, 70 slave device, 40, 41, 42 network, 43 tracking line, 81, 83, 86 I / O device, 82 , 84, 87 Robot, 85, 88 Sensor, 101-103, 501-503, 601-603 OPU unit, 104, 203, 304, 504, 604, 704 Network unit, 201, 202, 301-303, 701-703 unit.

Claims

A master device that generates a first frame by giving a first identifier and a second identifier to first data that is data for controlling a controlled device, and transmits the first frame to a slave device;
Based on the first identifier, the first frame addressed to the device is received, and based on the second identifier, the first data included in the first frame is transmitted to the corresponding controlled device. A slave device to output,
A control system comprising:
The master device transmits a plurality of first frames as one frame for each slave device having the same destination based on the first identifier.
The control system according to claim 1.
In the case of a second master device comprising a plurality of the master devices, one master device being a control master device, and the other master device being a standby master device,
Each of the first master device and the second master device generates the first frame and transmits it to the slave device,
When the slave device receives the first frame from the first master device, the slave device outputs the first data included in the first frame received from the first master device to the controlled device, When the first frame is received from the second master device without receiving the first frame from the first master device, the first frame included in the first frame received from the second master device Outputting data to the controlled device;
The control system according to claim 1 or 2, wherein
The slave device assigns the first identifier and the second identifier to second data that is data acquired from the controlled device, generates a second frame, and transmits the second frame to the master device.
The master device receives a second frame addressed to the device based on the first identifier, and acquires the second data included in the second frame.
The control system according to any one of claims 1 to 3, wherein:
The slave device transmits a plurality of second frames as one frame for each master device having the same destination based on the first identifier.
The control system according to claim 4.
In the case of a second master device comprising a plurality of the master devices, one master device being a control master device, and the other master device being a standby master device,
The slave device adds the first identifier of the first master device and the second identifier to the second data, generates a second frame, and transmits the second frame to the first master device. In addition, the first identifier of the second master device and the second identifier are given to the second data, and a second frame is generated and transmitted to the second master device.
The first master device and the second master device receive a second frame addressed to the first device based on the first identifier, and acquire the second data included in the second frame To
6. The control system according to claim 4 or 5, wherein:
The first identifier is an identifier for identifying an individual device,
The second identifier is an identifier indicating a processing path of the data in each device.
The control system according to any one of claims 1 to 6, wherein:
A master device that constitutes a control system together with a slave device,
A control unit that generates first data that is data for controlling a controlled device connected to the slave device;
A frame processing unit for generating a first frame by giving a first identifier and a second identifier to the first data;
A network processing unit for transmitting the first frame generated by the frame processing unit to the slave device indicated by the first identifier based on the first identifier;
A master device comprising:
A slave device constituting a control system together with a master device,
When a first frame addressed to itself is received based on the first identifier among first frames transmitted from the master device to which a first identifier and a second identifier are assigned, the second frame A network processing unit for outputting the first frame to a frame processing unit corresponding to the second identifier based on an identifier;
The frame processing unit that acquires first data that is data generated by the master device from the first frame and outputs the first data to a controlled device to be connected;
A slave device comprising:
A control method in a control system including a master device and a slave device,
The master device generates a first frame by adding a first identifier and a second identifier to first data that is data for controlling a controlled device, and transmits the first frame to the slave device. Sending step;
The slave device receives the first frame addressed to itself based on the first identifier, and corresponds the first data included in the first frame based on the second identifier. A first receiving step of outputting to the controlled device;
The control method characterized by including.