WO2020003438A1

WO2020003438A1 - Logging device and sampling method

Info

Publication number: WO2020003438A1
Application number: PCT/JP2018/024594
Authority: WO
Inventors: 憲司渡邉; 伸夫長坂; 英和金井
Original assignee: 株式会社Ｆｕｊｉ
Priority date: 2018-06-28
Filing date: 2018-06-28
Publication date: 2020-01-02
Also published as: JP6963107B2; CN112334739B; CN112334739A; JPWO2020003438A1

Abstract

The purpose of the present invention is to provide a logging device and a sampling method in which sampling according to a communication speed is possible. The logging device is provided with: an input unit through which a plurality of types of communication data having different communication speeds are input, the communication data being transmitted by a device to be logged; and a sampling unit which samples the plurality of types of communication data input through the input unit at respective sampling times according to the communication speeds.

Description

Logging device and sampling method

The present disclosure relates to a logging device for sampling communication data and a sampling method.

Conventionally, there is a logging device for storing digital signals (for example, Patent Document 1). In the logging device of Patent Document 1, a comparator determines the logical level of a multi-channel digital signal, and samples the output signal of the comparator with a sampling circuit. The logging device stores a detection signal detected by the sampling circuit for each sampling time in a memory.

JP-A-62-255883

By the way, in the conventional logging device, it is assumed that the digital signals to be logged have the same communication speed. Therefore, there is a possibility that communication data having different communication speeds cannot be appropriately sampled.

The present disclosure has been made in view of the above problems, and has as its object to provide a logging device and a sampling method capable of performing sampling according to a communication speed.

In order to solve the above problems, the present disclosure is directed to an input unit for inputting a plurality of types of communication data having different communication speeds transmitted by a device to be logged, and the plurality of input data input via the input unit. And a sampling unit that samples each type of communication data at a sampling time corresponding to the communication speed.

Further, in order to solve the above-described problem, the present disclosure has an input step of inputting a plurality of types of communication data having different communication speeds transmitted by a device to be logged, and inputting the data through the input step. A sampling step of sampling each of the plurality of types of communication data at a sampling time corresponding to a communication speed.

According to the logging device and the sampling method of the present disclosure, it is possible to perform sampling according to the communication speed for each communication data having different communication speeds.

FIG. 2 is a diagram illustrating a hardware configuration of a logging device according to the embodiment. FIG. 3 is a diagram illustrating an internal block of the FPGA. It is a figure showing the state where a logging device was connected to a mounting device of logging object. FIG. 2 is a perspective view illustrating a schematic configuration of a mounting device and a loader. FIG. 3 is a diagram illustrating each connector and a sampling time for sampling communication data input from each connector. FIG. 4 is a diagram illustrating a format of data stored by a logging selector processing unit. FIG. 4 is a diagram for explaining association of communication data output from a buffer circuit. FIG. 4 is a diagram illustrating information added to data to be stored. FIG. 9 is a diagram illustrating a trigger condition. FIG. 2 is a diagram illustrating a data format of communication data transmitted and received on an EtherCAT (registered trademark) network. It is a figure which shows the state which arranged the logging device in the mounting device of the logging object of another example.

Hereinafter, a logging device 10 that is an embodiment of the logging device of the present disclosure will be described with reference to the drawings. FIG. 1 shows a hardware configuration of a logging device 10 of the present embodiment. FIG. 2 shows an internal block of the FPGA 11 included in the logging device 10. As shown in FIGS. 1 and 2, the logging device 10 includes an FPGA 11, a power supply circuit 13, a DDR memory 15, a nonvolatile memory 17, and various connectors.

The FPGA 11 includes, for example, a programmable logic device such as a Field Programmable Gate Array and a CPU. The FPGA 11 has various circuit blocks shown in FIG. The FPGA 11 constructs a circuit block such as the logging selector processing unit 51 based on the configuration information (configuration data) stored in the nonvolatile memory 17, for example. The FPGA 11 performs a logging process by the logging selector processing unit 51 and the like. The logging selector processing unit 51 and the like are not limited to the logic circuit of the FPGA 11, and may be, for example, a logic circuit of a programmable logic device (PLD) or a composite programmable logic device (CPLD). Further, the logging selector processing unit 51 and the like are not limited to logic circuits, and may be integrated circuits for specific applications such as ASICs. Further, the logging selector processing unit 51 and the like may be realized by software instead of hardware.

The FPGA 11 includes a trigger control processing unit 53, an ENC processing unit 55, a UART processing unit 57, an M2 processing unit 59, a 100base-tx processing unit 61, a high-speed PIO processing unit 62, a low-speed PIO processing unit 63, an ADC processing unit 64, and the like. ing. The trigger control processing unit 53 issues a logging start instruction as described later. The ENC processing unit 55 and the like execute sampling and protocol analysis of communication data input from each connector.

The power supply circuit 13 is a circuit that functions as a power supply for the logging device 10. The power supply circuit 13 includes, for example, an AC / DC conversion circuit and the like, and receives power from a commercial power supply or the like via a power supply connector 18. The power supply circuit 13 supplies the received power to various devices of the logging device 10. The configuration of the power supply of the logging device 10 is not particularly limited. For example, the logging device 10 may include a rechargeable battery, or may be configured to receive wireless power supply.

Next, various connectors of the logging device 10 will be described. The logging device 10 includes various connectors for connecting to a device to be logged and other devices. Note that the types and numbers of connectors of the logging device 10 shown in FIGS. 1 and 2 are examples.

The RS-232C connector 20 is connected to the FPGA 11 via the RS-232C driver IC 22. The RS-232C driver IC 22 is a driver circuit that performs communication conforming to the RS-232C standard, and executes, for example, determination of a logical value of a digital signal input from the RS-232C connector 20. The RS-232C driver IC 22 is connected to the logging selector processing unit 51 via the trigger control processing unit 53 of the FPGA 11. The RS-232C connector 20 is connected to, for example, a personal computer (hereinafter, simply referred to as “PC”) 98 (see FIG. 3). The user can make settings for the logging device 10 by operating the PC 98, for example. More specifically, the trigger control processing unit 53 instructs the logging selector processing unit 51 to start logging based on, for example, an instruction signal input from the PC 98 connected to the RS-232C connector 20. The trigger control processing unit 53 is configured to input an instruction signal for instructing start of logging from, for example, the ENC processing unit 55, the UART processing unit 57, the M2 processing unit 59, and the like. The trigger control processing unit 53 instructs the logging selector processing unit 51 to start logging based on the instruction signal input from the ENC processing unit 55 and the like.

The logging device 10 also includes six ABS encoder connectors 24. Each of the ABS encoder connectors 24 is connected to the FPGA 11 via an RS-485 driver IC 25. The ABS encoder connector 24 is connected to, for example, a cable obtained by branching a communication line and a GND line in a communication cable of the RS-485 standard, and inputs communication data compliant with the RS-485 standard. The RS-485 driver IC 25 determines the logical value of communication data based on the RS-485 standard, and outputs a processed digital signal to the FPGA 11. As a result, the FPGA 11 can receive communication data from the logging target communication cable of the RS-485 standard, bypassing the communication data. Note that the method of connecting the logging device 10 to a device to be logged or the like is not particularly limited. For example, the ABS encoder connector 24 may be configured to include a probe, a glamper, or the like for connecting to a terminal of a device to be logged.

FIG. 3 shows a state in which the logging device 10 is connected to an electronic component mounting device (hereinafter, may be abbreviated as “mounting device”) 81 which is a device to be logged. FIG. 4 is a perspective view illustrating a schematic configuration of the mounting device 81 and the loader 82. FIG. 3 omits a part of a communication cable and a monitor cable in order to avoid complicating the drawing. In the following description, as shown in FIG. 4, the left-right direction of the mounting device 81 is referred to as an X direction, the front-rear direction is referred to as a Y direction, and a direction perpendicular to the X direction and the Y direction is a vertical direction (Z direction). This will be described.

The mounting device 81 is a device for mounting electronic components on the circuit board 110. The mounting device 81 configures a production line by, for example, a plurality of mounting devices 81 arranged in the X direction. As shown in FIGS. 3 and 4, the mounting device 81 includes a base 113 and a module 115 provided on the base 113. The base 113 is connected to the bases 113 of the adjacent mounting devices 81. The module 115 is, for example, slidable in the front-back direction with respect to the base 113, and is replaceable with another module 115. The module 115 includes a main body 83, a substrate transfer device 117, a feeder stand 119, a head moving mechanism 84, and a head 85. The main unit 83 includes a controller 89 that controls the mounting device 81 in an integrated manner.

The board transfer device 117 is provided in the module 115 and transfers the circuit board 110 in the X direction. The feeder stand 119 is provided on the front surface of the module 115, and is an L-shaped stand when viewed from the side. The feeder stand 119 includes a plurality of slots (not shown) arranged in the X direction. In each slot of the feeder stand 119, a feeder 121 for supplying an electronic component is mounted. The feeder 121 is, for example, a tape feeder that supplies electronic components from a tape that accommodates electronic components at a predetermined pitch.

The head unit 85 includes a suction nozzle 85A for sucking the electronic component supplied from the feeder 121, and mounts the electronic component sucked by the suction nozzle 85A on the circuit board 110. The head moving mechanism 84 moves the head 85 to any position in the X and Y directions. More specifically, the head moving mechanism 84 includes an X-axis slide 86 for moving the head unit 85 in the X direction, and a Y-axis slide 87 for moving the head unit 85 in the Y direction.

The X-axis slide 86 drives the linear motor 91 (see FIG. 3) to move the head unit 85 in the X direction inside the module 115 (above the main body 83). The X-axis slide 86 is attached to the Y-axis slide 87.

The Y-axis slide 87 drives the linear motor 91 (see FIG. 3) and moves in the Y direction inside the module 115 (above the main body 83). The X-axis slide 86 moves to an arbitrary position in the Y direction based on the driving of the linear motor 91 of the Y-axis slide 87. The head 85 moves to an arbitrary position in the X direction based on the driving of the linear motor 91 of the X-axis slide 86. Therefore, the head 85 moves to an arbitrary position above the main body 83 with the driving of the X-axis slide 86 and the Y-axis slide 87.

(4) The controller 89 of the main unit 83 receives a linear scale signal LSD, which is positional information, from the linear scale 92 (see FIG. 3) of the linear motor 91 via the amplifier unit 93 of the main unit 83. The controller 89 controls the amplifier 93 based on the linear scale signal LSD, and controls the power supplied to the linear motor 91 and the like. Thereby, the controller 89 can control the position of the head unit 85 in the XY directions.

The head unit 85 includes a plurality of suction nozzles 85A, and includes a plurality of (for example, six) electromagnetic motors 95 as driving sources for changing the overall positions of the plurality of suction nozzles 85A and the positions of the individual suction nozzles 85A. I have. For example, an ABS (absolute type) encoder 96 is attached to each electromagnetic motor 95. The controller 89 controls the amplifier 93 based on the encoder signal ENCD received from the encoder 96 via the amplifier 93, and controls the power supplied to the electromagnetic motor 95, similarly to the linear motor 91 described above. Thereby, the controller 89 can control the operation of each suction nozzle 85A of the head unit 85.

The head 85 is attached to the X-axis slide 86 via a connector, is detachable with one touch, and can be changed to a different type of head 85, for example, a dispenser head. A camera 103 is attached to each of the head unit 85 and the Y-axis slide 87 as an imaging device. FIG. 4 shows only the camera 103 of the head unit 85.

As shown in FIG. 4, an upper guide rail 123, a lower guide rail 125, a rack gear 127, and a non-contact power feeding coil 129 are provided on the front surface of the base 113. The upper guide rail 123 is a rail having a U-shaped cross section extending in the X direction, and has an opening facing downward. The lower guide rail 125 is an L-shaped cross-section rail extending in the X direction, and has a vertical surface attached to the front surface of the base 113 and a horizontal surface extending forward. The rack gear 127 is a gear that is provided below the lower guide rail 125, extends in the X direction, and has a plurality of vertical grooves formed on the front surface. The upper guide rail 123, the lower guide rail 125, and the rack gear 127 can be detachably connected to the upper guide rail 123, the lower guide rail 125, and the rack gear 127 of the adjacent mounting device 81. The non-contact power feeding coil 129 is provided above the upper guide rail 123 and is a coil arranged along the X direction, and supplies power to the loader 82.

The loader 82 is a device that automatically replenishes and collects the feeder 121 with respect to the mounting device 81, and includes a gripper (not shown) that clamps the feeder 121. The loader 82 is provided with an upper roller (not shown) inserted into the upper guide rail 123 and a lower roller (not shown) inserted into the lower guide rail 125. Further, the loader 82 is provided with a motor as a drive source. A gear that meshes with the rack gear 127 is attached to the output shaft of the motor. The loader 82 includes a power receiving coil that receives power from the non-contact power feeding coil 129 of the mounting device 81. The loader 82 supplies the electric power received from the non-contact power supply coil 129 to the motor. Thus, the loader 82 can move in the X direction (left-right direction) by rotating the gear by the motor. Further, the loader 82 can move in the X direction while rotating the rollers in the upper guide rail 123 and the lower guide rail 125 and maintaining the position in the vertical direction and the front-back direction.

For example, the plurality of mounting devices 81 constituting the production line start the mounting operation of the electronic components based on the management of the production line management computer (not shown). The mounting device 81 performs the mounting operation of the electronic component by the head unit 85 while transporting the circuit board 110. The management computer monitors the number of remaining electronic components of the feeder 121. For example, when the management computer determines that the supply of the feeder 121 is necessary, the management computer displays on the screen an instruction to set the feeder 121 containing the component type that needs the supply to the loader 82. The user checks the screen and sets the feeder 121 on the loader 82. When the management computer detects that the desired feeder 121 has been set in the loader 82, it instructs the loader 82 to start a replenishment operation. The loader 82 moves to the front of the mounting device 81 that has received the instruction, and mounts the feeder 121 set by the user in the slot of the feeder stand 119 while holding the feeder 121 with the gripping portion. Thus, a new feeder 121 is supplied to the mounting device 81. Further, the loader 82 holds the feeder 121, which has run out of components, with the grip portion, pulls it out from the feeder stand 119, and collects it. In this way, the supply of a new feeder 121 and the collection of a feeder 121 that has run out of parts can be automatically performed by the loader 82.

As shown in FIG. 3, for example, the logging device 10 is connected between the main unit 83 and other devices (the head unit 85, the X-axis slide 86, and the Y-axis slide 87). Although the logging device 10 is not illustrated in FIG. 4, the location and the position where the logging device 10 is installed are not particularly limited. For example, the logging device 10 may be arranged in the mounting device 81 and connected between the main body 83 and the X-axis slide 86 or the like. Alternatively, the logging device 10 may be arranged outside the mounting device 81 and connected to each device of the mounting device 81.

For example, the main unit 83 communicates with the encoder 96 by communication using the communication protocol of HDLC (High-Level Data Link Control) according to the RS-485 standard, and transmits and receives the encoder signal ENCD. The encoder signal ENCD is a command command for the encoder 96 transmitted from the main body 83, position information transmitted from the encoder 96, and the like.

In the logging device 10, each of the ABS encoder connectors 24 is connected to a communication cable for the encoder signal ENCD. The FPGA 11 is provided with an ENC processing unit 55 corresponding to each of the RS-485 driver ICs 25 (see FIG. 2). Each of the ENC processing units 55 samples the encoder signal ENCD. Further, the ENC processing unit 55 can analyze a communication protocol suitable for a manufacturer and a series of the encoder 96, for example, and can convert the data into a common data format. The ENC processing unit 55 outputs a processing result as data in which 64 BITs (see FIG. 6) constitute one block.

The $ ENC processing unit 55 is connected to the logging selector processing unit 51 via a FIFO (First @ In, $ First @ Out) buffer circuit 54. The buffer circuit 54 can accumulate 64 bits of data according to the size of the output data of the ENC processing unit 55. The logging selector processing unit 51 inputs data for each 64 BIT via the buffer circuit 54. The logging selector processing unit 51 selectively receives communication data from the ENC processing unit 55, the UART processing unit 57, and the like according to the settings. The UART processing unit 57, the M2 processing unit 59, the 100base-tx processing unit 61, and the like execute sampling and the like in the same manner as the ENC processing unit 55. Therefore, in the description of the UART processing unit 57 and the like, the same contents as those of the ENC processing unit 55 will be appropriately omitted. The FIFOs 1 to 15 in FIG. 2 have the same configuration, and a description thereof will be omitted as appropriate.

ロギング Further, as shown in FIGS. 1 and 2, the logging device 10 includes an RS-232C connector 26. The RS-232C connector 26 is connected to, for example, a cable obtained by branching a communication line and a GND line of a communication cable of the RS-232C standard, and inputs communication data of communication conforming to the RS-232C standard. The RS-232C connector 26 is connected to the FPGA 11 via an RS-232C driver IC 27. The RS-232C driver IC 27 is connected to the logging selector processing unit 51 via the UART processing unit 57 and the buffer circuit 54 of the FPGA 11. The RS-232C connector 26 is, for example, a connector for inputting a detection signal of a sensor provided in the mounting device 81 and the like. For example, when transmitting and receiving the linear scale signal LSD between the main unit 83 and the linear scale 92 shown in FIG. 3 by UART communication (communication of the RS-232C standard), the logging device 10 transmits the linear scale signal LSD to the linear scale signal LSD. The RS-232C connector 26 is connected to the communication cable. The logging selector processing unit 51 of the FPGA 11 receives the linear scale signal LSD sampled by the UART processing unit 57.

Here, as shown in FIG. 3, the controller 89 controls the slave 101 provided on each of the head unit 85, the X-axis slide 86, and the Y-axis slide 87 via an industrial network. The slave 101 is connected to, for example, a sensor or a relay provided in the head unit 85 or the like. Alternatively, the controller 89 controls the amplifier 93 via an industrial network. The industrial network referred to here is, for example, a device that can control a device serving as a slave by reducing the wiring of a communication cable. Specifically, the industrial network is, for example, industrial Ethernet (registered trademark, 100base-tx communication, etc.) such as MECHATROLINK (registered trademark) -III, EtherCAT (registered trademark). Alternatively, the industrial network is MECHATROLINK®-II, CC-Link®, CUNET®, or the like.

ロギング As shown in FIGS. 1 and 2, the logging device 10 includes an M2 connector 28. The M2 connector 28 is, for example, a connector that is connected to a communication cable that performs communication conforming to the MECHATROLINK (registered trademark) -II standard. For example, it is connected to a communication cable between the controller 89 and the slave 101 or between the controller 89 and the amplifier unit 93. The M2 connector 28 is connected to the FPGA 11 via the RS-485 driver IC 29. The RS-485 driver IC 29 is connected to the logging selector processing unit 51 via the M2 processing unit 59 of the FPGA 11 and two buffer circuits 54. The M2 processing unit 59 samples, for example, a parallel IO signal transmitted by MECHATROLINK (registered trademark) -II standard communication, and outputs the parallel IO signal to one of the two buffer circuits 54. The M2 processing unit 59 converts, for example, an analog signal transmitted by the communication of the MECHATROLINK (registered trademark) -II standard into a digital signal, performs sampling, and the like, and performs the other buffer circuit 54 of the two buffer circuits 54 Output to

ロギング The logging device 10 also has two RJ-45 connectors 31. The RJ-45 connector 31 is, for example, a connector to which a LAN cable of a category capable of communication conforming to the 100 base-tx standard is connected. More specifically, it is a connector that can be connected to industrial Ethernet (registered trademark) such as MECHATROLINK (registered trademark) -III and EtherCAT (registered trademark) described above. Each of the RJ-45 connectors 31 is connected to the FPGA 11 via an Ethernet PHY 32. Each of the Ethernet PHYs 32 is connected to a logging selector processing unit 51 via a 100 base-tx processing unit 61 and two buffer circuits 54 of the FPGA 11.

The # 100base-tx processing unit 61 samples, for example, a parallel IO signal transmitted by MECHATROLINK (registered trademark) -III standard communication, and outputs the parallel IO signal to one of the two buffer circuits 54. The 100 base-tx processing unit 61 converts, for example, an analog signal transmitted by communication of the MECHATROLINK (registered trademark) -III standard into a digital signal and performs sampling or the like, and the other buffer circuit of the two buffer circuits 54 Output to the circuit 54. Note that the connection form of the industrial network is not limited to the above-described form. For example, when logging communication data of CUNET (registered trademark) connected with a communication cable of the RS-485 standard, the ABS encoder connector 24 may be connected to a communication cable of CUNET (registered trademark).

The logging device 10 includes a high-speed DI terminal block 33 and a low-speed DI terminal block 35. The high-speed DI terminal block 33 and the low-speed DI terminal block 35 are connectors for inputting, for example, a detection signal of a sensor provided in the mounting device 81. The high-speed DI terminal block 33 is connected to the FPGA 11 via a high-speed photocoupler IC. The high-speed photocoupler IC 34 is connected to a logging selector processing unit 51 via a high-speed PIO processing unit 62 and a buffer circuit 54 of the FPGA 11. The low-speed DI terminal block 35 is connected to the FPGA 11 via a low-speed photocoupler IC 36. The low-speed photocoupler IC 36 is connected to the logging selector processing unit 51 via the low-speed PIO processing unit 63 and the buffer circuit 54.

(4) The high-speed DI terminal block 33 and the low-speed DI terminal block 35 are provided with, for example, terminals to which four communication lines can be connected. The high-speed photocoupler IC 34 and the low-speed photocoupler IC 36 convert an electric signal input to the high-speed DI terminal block 33 or the like into light, convert it back to an electric signal, and acquire communication data while performing electrical insulation. The high-speed photocoupler IC 34 is configured to process digital signals at a higher speed than the low-speed photocoupler IC 36. The high-speed PIO processing unit 62 and the low-speed PIO processing unit 63 sample communication data input from the high-speed photocoupler IC 34 and the like, and output the data to the logging selector processing unit 51 via the buffer circuit 54.

(4) The logging device 10 includes the high-speed ADC connector 37. The high-speed ADC connector 37 is connected to the FPGA 11 via the ADC-IC 38. The ADC-IC 38 is connected to the logging selector processing unit 51 via the ADC processing unit 64 and the buffer circuit 54. The high-speed ADC connector 37 is a connector for inputting analog data. The ADC-IC 38 converts analog data input through the high-speed ADC connector 37 into digital data and outputs the digital data to the ADC processing unit 64. The ADC processing unit 64 samples the communication data input from the ADC-IC 38 and outputs the data to the logging selector processing unit 51 via the buffer circuit 54.

(4) The logging device 10 includes the JTAG connector 43. The JTAG connector 43 is a connector that executes communication conforming to a standard proposed by, for example, JTAG (Joint European Test Action Group). The FPGA 11 constructs a circuit block based on the configuration information input via the JTAG connector 43, for example. Therefore, the user can change the circuit block of the FPGA 11 by changing the configuration information input to the JTAG connector 43 according to, for example, the manufacturer or model of the device (such as the encoder 96) to be logged. For example, the sampling time used by the ENC processing unit 55, the format information of the communication protocol used for analyzing the communication data, and the like can be changed, and the ENC processing unit 55 can appropriately perform sampling and the like. Note that the method of setting the logging device 10 is not limited to the method of changing the circuit block based on the configuration information. For example, a screen on which the sampling time and the like can be selected may be displayed on the PC 98 or the like, and the selection by the user may be accepted on the displayed screen.

Further, the logging selector processing unit 51 performs the digital sampling performed by the ABS encoder connector 24, the M2 connector 28, the RJ-45 connector 31, the high-speed DI terminal block 33, the low-speed DI terminal block 35, the high-speed ADC connector 37, and the like. Input signal communication data. The logging selector processing unit 51 inputs communication data selected from a plurality of communication data (buffer circuits 54). The logging selector processing unit 51 selects communication data to be input in accordance with, for example, settings based on configuration information, selection on the display screen of the PC 98, or a command signal input from the trigger control processing unit 53.

(2) As shown in FIG. 2, the logging selector processing unit 51 is connected to a memory controller 67 via a FIFO type buffer circuit 66. The memory controller 67 is connected to the DDR memory 15 and controls writing and reading of data to and from the DDR memory 15. Accordingly, the logging selector processing unit 51 stores the communication data to be logged input from the ENC processing unit 55 and the like in the DDR memory 15 via the buffer circuit 66 and the memory controller 67.

The logging device 10 also includes a SATA connector 41 for connecting to an external storage device 42 (see FIG. 1). The SATA connector 41 is, for example, an interface for performing communication conforming to the Serial ATA standard. The external storage device 42 is, for example, a storage device such as a hard disk drive (HDD) or a solid state drive (SSD). The standard connected to the external storage device 42 is not limited to the SATA standard, but may be a parallel ATA (IDE) standard, a USB standard, or an IEEE 1394 standard.

The SATA connector 41 is connected to the SATA-IP 68 of the FPGA 11. The SATA-IP 68 is, for example, an IP core that can process data transmitted and received through an interface based on the SATA standard. The logging selector processing unit 51 changes the storage destination of the communication data input from the ENC processing unit 55 or the like, for example, according to the setting of the configuration information. For example, when the logging selector processing unit 51 constructs a circuit block 51A (see FIG. 2) for storing communication data in the external storage device 42, it stores the communication data in the external storage device 42 via the SATA-IP 68 (FIG. 2). Dashed line).

(About saving communication data)
Here, communication data sampled by the ENC processing unit 55 and the like may have different communication speeds from each other. The communication speed of the communication data differs depending on the physical layer and the communication protocol used. The communication speed also differs depending on the type of the device to be logged, the manufacturer, the version of the device, and the like. Thus, the ENC processing unit 55, the UART processing unit 57, the M2 processing unit 59, and the like execute sampling of each of the communication data input from the ABS encoder connector 24 and the like at a sampling time according to the communication speed.

(5) FIG. 5 shows each connector and a sampling time for sampling communication data input from each connector. The data types, sampling times, and the like shown in FIG. 5 are examples. The leftmost column in FIG. 5 shows an identification ID for identifying each communication data, which is also used for identifying stored data described later (see FIG. 6). Zero of the identification ID will be described later. The identification IDs 1 to 14 correspond in this order to the RS-485 driver IC 23 to the high-speed ADC connector 37 (for each buffer circuit 54) shown in FIG.

２The second column from the left in FIG. 5 is information indicating the type of data. The third column is information on the sampling time. The fourth column is detailed information that can determine the type of communication data such as the manufacturer name, the type of device, and the series number of the device. The fifth column is information indicating whether to execute logging. For example, a zero in the fifth column indicates that no logging is performed. Also, 1 in the fifth column indicates that logging is performed. The sixth column contains information such as the communication speed of communication data and the data transmission cycle.

Identification IDs 1 to 6 correspond to the ABS encoder connector 24. For example, the ENC processing unit 55 samples communication data (encoder signal ENCD) input from the ABS encoder connector 24 at a sampling time of 40 ns (25 MHz). The sampling time shown in FIG. 5 is set in, for example, configuration information for constructing a circuit block of the FPGA 11. In this case, when constructing the circuit block, the ENC processing unit 55 and the like construct a sampling circuit that samples at a sampling time corresponding to the communication speed of communication data. Alternatively, for example, a setting file in which each connector (channel) is associated with a sampling time may be stored in the nonvolatile memory 17. Then, the ENC processing unit 55 or the like may read the setting file from the nonvolatile memory 17 after startup and set the sampling time.

The method for setting the information on whether or not to execute logging shown in the fifth column of FIG. 5 may be a method using configuration information, a method of receiving a user's selection by the PC 98 or the like, and the logging selector processing unit 51 later. May read the configuration file. The logging selector processing unit 51 constructs, for example, a circuit selectively connected to the buffer circuit 54 corresponding to the identification ID (communication data) set to execute logging based on the configuration information. Thus, communication data to be logged can be set. Note that the FPGA 11 does not need to construct the ENC processing unit 55 or the like corresponding to the identification ID set to not execute the logging. That is, the configuration information may be information that does not construct a circuit block unnecessary for logging. The logging device 10 may display the list shown in FIG. 5 on, for example, a monitor of the PC 98, receive selection or change by the user, and set the sampling time of each connector.

FIG. 6 shows the format of data stored by the logging selector processing unit 51. The logging selector processing unit 51 stores, for example, the data input from the buffer circuit 54 in 64 bits as one block of data. The leftmost column in FIG. 6 shows the identification ID indicating the correspondence with FIG. The second line of FIG. 6 shows the description of each data included in the 64 BIT data. The third line in FIG. 6 indicates a position at which each data is included in the 64 BIT data. In FIG. 6, they are arranged in order from the 63rd bit to the 0th bit from left to right. The second column from the left is information on the continuation flag. The continuation flag is represented by, for example, 1 BIT. As shown in the rightmost column of FIG. 6, for example, the ENC processing unit 55 and the like use 40 BIT of the data of one block for storing the sampled communication data. The continuation flag in the second column is used to indicate that the data of the next block is continuous with the data of the previous block when the communication data of 40 BIT alone is insufficient.

More specifically, for example, the ENC processing unit 55 (see FIG. 2) responds to the encoder signal ENCD input from the ABS encoder connector 24 based on an error detection code (such as a CRC) added to the encoder signal ENCD. Perform error detection. When detecting an error in the encoder signal ENCD, the ENC processing unit 55 stores details of the abnormality such as the state of occurrence of the error. In such a case, information indicating details of the abnormality and the like are stored in addition to the input communication data. For this reason, there is a possibility that only 40 BIT may be insufficient. Alternatively, the ENC processing unit 55 adds additional information to the communication data when detecting various abnormalities such as a timeout abnormality of the encoder signal ENCD, a communication disconnection abnormality, and a temperature abnormality of the encoder 96. If such 40 BITs alone are not enough, the ENC processing unit 55 sets, for example, a continuation flag bit (to 1 bit).

The logging selector processing unit 51 divides, for example, an area of the DDR memory 15 for storing communication data for each identification ID. The logging selector processing unit 51 stores the communication data input from the ENC processing unit 55 in the corresponding area, and stores the data in the order input from the ENC processing unit 55, that is, in the sampling order. Thereby, when analyzing the logged data later, the continuity of the stored data can be determined based on the continuation flag, and the reconstruction of the communication data and the confirmation of the abnormal content can be appropriately executed. The setting as to whether the ENC processing unit 55 performs error detection and the setting to start logging in response to the detection of an abnormality can be changed by the user. This changing method will be described later (see FIG. 9).

{Circle around (4)} The logging selector processing unit 51 stores communication data input from an arbitrary buffer circuit 54 and communication data input from another buffer circuit 54 such that they are arranged on the same time axis. Specifically, for example, FIG. 7 shows a relationship between 64-bit communication data output from each buffer circuit 54 and output time. The logging selector processing unit 51 synchronizes, for example, the output processes of the plurality of buffer circuits 54 (see times t1 and t2 in FIG. 7), and stores the simultaneously sampled communication data in association with each other. In this case, since the plurality of associated communication data are data sampled simultaneously, they can be compared side by side on the same time axis. Alternatively, the logging selector processing unit 51 may, for example, set the sampled time information in the communication data to be stored, and associate the time information of a plurality of communication data with each other. As shown in FIG. 6, the condition that requires a continuation flag, that is, the condition that must be handled as continuous data, may be different for each communication data to be logged. Therefore, the ENC processing unit 55, the UART processing unit 57, and the like construct a circuit block based on the condition of the continuation flag shown in FIG. 6, and raise the continuation flag when the condition is satisfied.

３The third column from the left in FIG. 6 is information on the difference time. The difference time is represented by, for example, 15 BIT. Communication data to be logged is not always transmitted and received. For example, communication of the encoder signal ENCD is performed when performing initial setting of the encoder 96, when acquiring position information from the encoder 96, when acquiring the status of the encoder 96, and the like. For this reason, the ENC processing unit 55 and the like detect whether or not there is an input of communication data, and associate a difference time between the time when the previous input was detected and the time when the next input was detected with the communication data. The ENC processing unit 55 and the like output, to the logging selector processing unit 51, one block of data (64 BIT) in which the above-described continuation flag and difference time are associated with communication data. For example, when the signal level of the communication data does not change for a certain period of time, the ENC processing unit 55 and the like determine that the input of the communication data cannot be detected. Then, the ENC processing unit 55 and the like count up the difference time for each sampling time from the timing at which the signal level does not change.

Therefore, the ENC processing unit 55 and the like can detect, for each sampling time, whether or not there is an input for each of the communication data having different communication speeds. Therefore, it is possible to appropriately log communication data having different communication speeds.

{Also, as shown in FIG. 5, encoder signal ENCD is sampled every 40 ns. On the other hand, in actual communication, for example, data transmission / reception occurs every 62.5 μs (see remarks in FIG. 5). In this case, the value of the difference time is counted up by about 1562 (= 62.5 μs / 40 ns). When detecting the input of the next communication data, the ENC processing unit 55 sets a value of 1562 as the information of the difference time, and outputs data of one block in which the value is set. In addition, when transmission and reception of communication data are not performed for a long time, the count value of the difference time may exceed the maximum value. In the present embodiment, 15 BIT is assigned as the difference time. In this case, the maximum count value is, for example, 32768 (= 2 to the 15th power). Before the difference time exceeds the maximum count value that can be represented by 15 BIT, the ENC processing unit 55 outputs one block of data in which the difference time counted up to that time is set to the logging selector processing unit 51. The ENC processing unit 55 resets the difference time and newly starts counting the difference time. Thereby, even in a state where there is no transmission / reception of communication data for a long time, the ENC processing unit 55 divides the long-time difference time information into a plurality of pieces of the difference time information and stores the information. If the data for which the difference time is set is continuous in the stored data, the user can handle the data as one piece of data of the difference time. It should be noted that the UART processing unit 57 and the like other than the above-described ENC processing unit 55 can similarly execute the processing of the difference time.

Accordingly, the ENC processing unit 55 and the like detect whether or not each of a plurality of types of communication data has been input, and determine the difference time between the time when the previous input was detected and the time when the next input was detected. Are stored in association with a plurality of types of communication data (see FIG. 6). The ENC processing unit 55 and the like can store data corresponding to the presence or absence of input of communication data for each of communication data having different communication speeds. For example, communication data can be stored only when an input is detected, and a period during which no input can be detected can be stored as a difference time. As a result, the amount of data to be stored can be reduced as compared with the case where all the data sampled for each sampling time is stored regardless of the presence or absence of input. Further, by storing the difference time in association with the communication data, when using the data stored later, communication data can be reproduced in a time series based on the difference time. Therefore, appropriate logging can be performed for communication data having different communication speeds while reducing the data amount.

Here, the logging device 10 of the present embodiment includes a SATA connector 41 (an example of an external interface) to which an external storage device 42 can be connected. Then, the logging selector processing unit 51 can save the communication data input from the trigger control processing unit 53 and the like in the external storage device 42 via the SATA connector 41. According to this configuration, the trigger control processing unit 53 and the like can directly save the sampled communication data in the external storage device 42 without going through processing by an external device such as the PC 98.

{Circle around (4)} from the left in FIG. 6 indicates information on the identification ID. The information of the identification ID is represented by, for example, 4 BITs. Here, the PC 98 can read out the communication data (see FIG. 6) stored in the DDR memory 15 or the external storage device 42 and perform an analysis process and a display process. For example, various setting information shown in FIGS. 5 and 6 is stored in the storage device of the PC 98. Thereby, the PC 98 compares the identification ID included in the data of one block read out from the DDR memory 15 or the like with the identification ID of the setting information stored in the storage device in advance, so that the type of data read out and the sampling Time can be detected. In addition, the PC 98 performs a process of complementing the time during which no communication data was transmitted / received (the time during which communication data is not stored) based on the difference time, and reconstructs the communication data to the original state in time series. it can. Note that the PC 98 may not acquire the various setting information shown in FIGS. 5 and 6 in advance, and may acquire it from the logging device 10 when starting the analysis.

５The fifth column from the left in FIG. 6 is information indicating the state of the sampled communication data, and specifically, is 4 BIT information shown in FIG. The leftmost column in FIG. 8 shows the identification ID. Information (B43-B40 in FIG. 6) indicating the state of communication data is set to different information for each identification ID (communication data). For this reason, as shown in FIG. 8, the information indicated by the data is different for each ID even for the same 4 BIT information.

２The second column from the left in FIG. 8 is information on the first bit (B3), and is used as a bit value indicating the presence or absence of data. For example, when valid data is sampled and set as communication data (B30-B0) in FIG. 6, the ENC processing unit 55 and the like set a value of 1 as the first bit (B3). As described above, for example, when communication data is not input for a long period of time and the differential time (count value) reaches the maximum count value, the differential time and non-input communication data (for example, all zeros) are stored. Is done. In this case, a value of 0 is set in the first bit (B3). Thus, it is possible to determine whether valid data is stored in the communication data only by determining the first bit (B3).

３The third column from the left in FIG. 8 is the information of the second bit (B2). The second bit is used, for example, when there is a data error in the encoder signal ENCD or a time-out error in communication data. For example, when data that is not specified in the communication protocol is transmitted due to a failure of the encoder 96, or when communication data cannot be received after waiting for a predetermined threshold time, the ENC processing unit 55 and the like perform the second bit ( Set 1 to B2). The fourth column from the left in FIG. 8 is information of the third bit (B1), which is used when detecting an error in communication data. For example, when detecting an error in the encoder signal ENCD or the like, the ENC processing unit 55 sets a value of 1 as the third bit (B1). The fifth column from the left in FIG. 8 is the information of the fourth bit (B0), which is used when a communication error occurs. For example, in the HDLC communication transmitting the encoder signal ENCD, the ENC processing unit 55 sets a value of 1 as the fourth bit (B0) when detecting a command indicating a communication abnormality.

Returning to FIG. 6, the rightmost column in FIG. 6 stores communication data sampled by the ENC processing unit 55 and the like. The ENC processing unit 55 and the like may store data obtained by subjecting communication data to predetermined processing, instead of the sampled communication data itself. For example, the encoder 96 does not use a common format as the data format of the communication data, and the data format may be different for each maker or series of the same maker. On the other hand, the communication data output from the encoder 96 includes, for example, data indicating the same contents as different contents in data format, such as position information and abnormality information.

Therefore, the ENC processing unit 55 and the like extract communication data that can be shared from the communication data, and convert the extracted communication data into a common data format. For example, the ENC processing unit 55 extracts communication data indicating position information from the input communication data. Then, the ENC processing unit 55 converts the communication data indicating the position information into a common data format. The method for extracting the communication data indicating the position information is not particularly limited. For example, the user operates the PC 98 to input information of a communication protocol and information of a data format used in the communication protocol for each connector. The ENC processing unit 55 may extract communication data indicating position information from communication data to be processed based on the input information. The ENC processing unit 55 converts the value of the position information indicated by the communication data into a common data format. Thus, the data format can be changed without changing the value indicated by the position information. Position information in a data format that differs for each manufacturer is converted to information indicating a common position. The ENC processing unit 55 outputs the communication data converted into the common data format to the logging selector processing unit 51. Therefore, the ENC processing unit 55 does not save the communication data in the data format as it is, but converts the portion that can be shared into a common data format and saves it. For example, the ENC processing unit 55 converts the position information included in the encoder signal ENCD into a data format common to a total of 40 BITs of multi-turn (MT: 16 BIT) and single-turn (ST: 24 BIT). As a result, even if the manufacturer and the series are different, the position information can be converted into a common data format and stored.

{Circle around (6)} The ENC processing unit 55 sets, for example, communication data other than the position information among the input communication data, which is difficult to be shared by the manufacturer, in the data of one block as shown in FIG. That is, the ENC processing unit 55 outputs the communication data that is difficult to be shared without converting the data format. Therefore, the ENC processing unit 55 classifies the communication data into data that can be shared and data that cannot be shared, and performs data format conversion on the data that can be shared. The method of setting the target of data to be shared may be, for example, a method using configuration information, or a method of operating the PC 98 to set the logging device 10. Also, the UART processing unit 57 and the like other than the ENC processing unit 55 can execute the same conversion processing and non-conversion processing as the ENC processing unit 55.

対象 The target data for which the data format is shared is not limited to location information. For example, even if the original data format such as the abnormality information is different, it is possible to convert communication data having the same contents of the indicated abnormality into a common data format. For example, the ENC processing unit 55 converts communication data having a different data format but indicating the same abnormality into data having an identification number indicating the abnormality. Thereby, the abnormality information can be converted into a common data format for each content of the abnormality. Further, for example, abnormal information unique to the linear scale, such as a gap abnormality between the detection unit and the detected portion of the linear scale 92, can be converted into a common data format.

Therefore, the ENC processing unit 55, the UART processing unit 57, and the like (an example of a sampling unit) of the present embodiment extract communication data (such as position information and abnormality information) that can be shared from a plurality of types of communication data, and extract the same. The communication data is converted into a common data format. Thus, when the stored communication data is analyzed later, it is stored in a common data format, so that software or the like performing the analysis can perform the analysis with relatively easy processing. For example, for the common data, the same processing can be executed to detect a position shift based on the shared position information, or to detect the number of abnormalities based on the shared abnormal information.

{Circle around (4)} The ENC processing unit 55 and the like may perform processing on communication data in addition to processing for converting communication data into a common data format. For example, the ENC processing unit 55 may execute a preset calculation process for each of a plurality of types of communication data and then store the communication data. For example, when controlling the electromagnetic motor 95 shown in FIG. 3 with a three-phase current, the FPGA 11 may include a processing unit corresponding to a connector for inputting a three-phase current value transmitted and received by the amplifier unit 93.

The processing unit of the FPGA 11 may perform dq conversion of the three-phase current value (communication data) input via the connector and store the converted value as a value of active power or reactive power. For example, three-phase current values are subjected to dq conversion based on information on electrical angles and the like, converted into values such as active power (current), and stored. This makes it possible to display data in a form that is easy for the user to recognize, such as estimating and displaying the torque value from the active power. Note that the above-described data format conversion and dq conversion may be executed by the PC 98 that has read the communication data. Further, the preset calculation process is not limited to the dq conversion, and may be a process of calculating a distance, a moving time, a speed, and an acceleration from the position information of the encoder signal ENCD. Alternatively, the preset calculation process may be a process of performing a Fourier transform on the three-phase current and detecting noise (such as vibration) included in the three-phase current. As a result, the communication data can be processed to provide useful information to the user.

(About output of communication data by image data)
Returning to FIGS. 3 and 4, the mounting device 81 to be logged includes a camera 103 on the head unit 85 and the Y-axis slide 87. The camera 103 is, for example, an imaging device for photographing the circuit board 110, electronic components, and the like. The camera 103 transmits image data according to, for example, an image transmission method conforming to the camera link standard. The camera 103 is connected to the switching device 105 via a camera link cable Link. The switching device 105 is connected between the two cameras 103 and the controller 89. The switching device 105 switches the connection between the two cameras 103 and the controller 89. The camera 103 captures an image in response to, for example, a trigger signal received from the controller 89 of the main body unit 83, and transmits the captured image data to the controller 89 via the camera link cable Clink. Note that the camera 103 is not limited to a camera that supports the camera link standard, but may be a camera that supports another standard, for example, the GigE Vision (registered trademark) standard or the CoaXpress (registered trademark) standard.

The controller 89 outputs, for example, camera control signals CC1 to CC4 in the camera link standard to the switching device 105. The camera control signal CC1 is, for example, a trigger signal for instructing the camera 103 to perform imaging. In the case of control by an edge (edge trigger mode), the camera 103 starts exposure at the rising edge of the camera control signal CC1, for example, and executes exposure for a set time. Alternatively, in the case of controlling with a pulse width, the camera 103 starts exposure at the rising edge of the camera control signal CC1, and continues exposure until the falling edge (pulse width only).

The camera control signal CC2 is, for example, a selection signal for instructing the switching device 105 to connect the camera 103 of the head unit 85 and the controller 89. The camera control signal CC3 is, for example, a selection signal for instructing the switching device 105 to connect the camera 103 of the Y-axis slide 87 to the controller 89. For example, when the camera control signal CC2 is input from the controller 89, the switching device 105 connects the controller 89 to the camera 103 of the head unit 85. After changing the connection, the controller 89 can transmit a trigger signal to the camera 103 of the head unit 85 to acquire image data.

The logging device 10 is connected between the switching device 105 and the controller 89, for example. As shown in FIGS. 1 and 2, the logging device 10 includes a camera link input connector 39 and a camera link output connector 40. The camera link input connector 39 is connected to the switching device 105 via, for example, a camera link cable Clink. The camera link output connector 40 is connected to the controller 89 via a camera link cable Clink.

The logging device 10 stores, for example, the camera control signals CC1 to CC4 input from the controller 89 to the camera link output connector 40. The camera link output connector 40 is connected to a logging selector processing unit 51 via a UART processing unit and a high-speed PIO processing unit (hereinafter, referred to as a “processing unit”) 65 and a buffer circuit 54. For example, when the camera control signals CC1 to CC4 are input from the controller 89 to the camera link output connector 40, the processing unit 65 outputs (transfers) the input camera control signals CC1 to CC4 to the camera link input connector 39 (FIG. 2). Digital output DO). Further, the processing unit 65 executes sampling or the like of the camera control signals CC1 to CC4 and outputs the data to the logging selector processing unit 51 as data in which 64 BITs are one block. The switching device 105 executes control based on the camera control signals CC1 to CC4 input (transferred) from the camera link input connector 39. In the present embodiment, the camera control signal CC4 is used to output data logged from the logging device 10 to the controller 89. Therefore, when the camera control signal CC4 is input, the switching device 105 discards the input camera control signal CC4 and does not execute a specific process.

On the other hand, the logging selector processing unit 51 stores the camera control signals CC1 to CC4 input from the processing unit 65 in the DDR memory 15. Further, the logging selector processing section 51 outputs the camera control signals CC1 to CC4 to the camera switching section 73 (see FIG. 2) via the memory controller 67. The camera switching unit 73 is, for example, a circuit block of the FPGA 11.

The logging device 10 stores, for example, control signals transmitted and received between the controller 89 and the camera 103 through UART communication. This control signal is, for example, a control signal for adjusting the gain of the camera 103 or a control signal for setting an effective area (ROI: Region @ of \ Interest) in an imaging area where the camera 103 can image. The processing unit 65 inputs a control signal for UART communication via the camera link output connector 40 (see UART in FIG. 2). The processing unit 65 executes sampling of a control signal for UART communication and the like, like the camera control signals CC1 to CC4.

The connector for inputting the camera control signals CC1 to CC4 and the UART communication control signal from the controller 89 is not limited to the camera link output connector 40. For example, when the camera control signals CC1 to CC4 are output from the controller 89 by a parallel I / O signal or a serial I / O signal, the logging device 10 transmits the camera signal via the high-speed DI terminal block 33 or the RS-232C connector 26. Control signals CC1 to CC4 may be input. Further, the logging device 10 may receive a control signal for UART communication from the controller 89 via the RS-232C connector 26. The processing unit 65 receives not only the camera control signals CC1 to CC4 transmitted from the controller 89 and the UART communication control signal but also the response signal of the camera 103 from the camera link input connector 39 and outputs the response signal to the logging selector processing unit 51. May be equal. In this case, the logging selector processing unit 51 can also save the response signal. Further, the logging device 10 may save only the communication data transmitted from the camera 103 without storing the communication data (such as the camera control signal CC1) transmitted from the controller 89.

The logging device 10 can store image data input from the camera 103, for example. The camera link base input IP 69 of the FPGA 11 inputs image data from the switching device 105 via the camera link input connector 39. The camera link base input IP 69 is, for example, an IP core capable of processing image data of the camera link standard. The camera link base input IP 69 stores image data in the DDR memory 15 via the buffer circuit 71 and the memory controller 67, for example. The camera link base input IP 69 stores the other communication data (encoder signal ENCD or the like) stored (logged) in the DDR memory 15 by the logging selector processing unit 51 in association with image data. Specifically, the camera link base input IP 69 stores the time at which the image data was obtained and the time at which the other communication data was obtained in association with each other. Thus, the relationship between the time when the communication data such as the encoder signal ENCD is obtained and the time when the image data is obtained can be confirmed later. The connector for inputting image data from the switching device 105 (camera 103) is not limited to the camera link input connector 39. For example, the high-speed ADC connector 37 may execute input of image data. The ADC processing unit 64 may be configured to be able to input image data from the camera 103 by, for example, SPI (Serial Peripheral Interface) communication, which is one of serial communication methods.

The camera link base input IP 69 outputs the image data input from the switching device 105 to the camera switching unit 73. When the camera control signal CC2 or the camera control signal CC3 is selected by the controller 89, the camera switching unit 73 outputs the image data to the camera link output connector 40 via the buffer circuit 71 and the camera link base output IP70. The controller 89 can acquire, via the camera link output connector 40, image data selected and instructed to image by the camera control signals CC1 to CC4. The controller 89 executes a process based on the image data input from the camera link output connector 40.

When acquiring data logged by the logging device 10, the controller 89 outputs a camera control signal CC4 to the logging device 10. When the camera switching unit 73 receives the camera control signal CC4 via the camera link output connector 40, the processing unit 65, and the logging selector processing unit 51, for example, communication data or the like stored in the DDR memory 15 up to that point (logging data) In the image data and transmits the image data. For example, when the pixel value of the image data is represented by 8 BIT, the camera switching unit 73 generates image data in which 64 BIT data shown in FIG. 6 is set to 8 pixels (8 BIT * 8 pixels).

Here, if the data amount of the logged (stored) data is smaller than the maximum data amount that can be set for one piece of image data, the image data includes pixels for which the logging data cannot be set. Therefore, the camera switching unit 73 uses the NOP data indicated by the identification ID of zero in FIGS. 5 and 6 to fill the generated empty area (excess pixels). Therefore, when the data amount of the logging data that can be transmitted does not reach the maximum data amount of one image data, the camera switching unit 73 transmits the image data in which the empty pixels are filled with the NOP data to the controller 89. In the image data transmitted from the logging device 10 to the controller 89, in addition to the logged communication data, a continuation flag, a difference time, an identification ID, and status information are set as header information of the logged communication data ( See FIG. 6).

The controller 89 has, for example, the setting information shown in FIG. 5 and FIG. 6, determines the NOP data based on the identification ID of the received image data, and can discard unnecessary data. Thereby, even when the data amount of the logging data is smaller than the maximum data amount of the image data, the logging data can be transferred.

Therefore, the camera switching unit 73 of the present embodiment outputs a plurality of types of communication data stored in the DDR memory 15 in the form of image data. The camera switching unit 73 sets a plurality of types of communication data in a data area for setting a pixel value of image data, and sets information (such as an identification ID) on the type of the set communication data and a sampling time at which the communication data was sampled. ) Is added as header information. According to this, the logged communication data and the like can be output as image data through the image data communication line. In addition, on the receiving side (such as the controller 89), the type and sampling time of the communication data can be determined based on the header information (such as the identification ID) to appropriately reconstruct the communication data.

The request for image data using the camera control signal CC4 to the logging device 10 may be executed by a device other than the controller 89. For example, the logging device 10 may be configured to output image data in which communication data and the like are set to the PC 98 based on a control signal input from the PC 98.

(About trigger to start logging)
Next, a trigger condition for starting logging of communication data and image data will be described. FIG. 9 shows an example of a trigger condition for starting logging. The leftmost column in FIG. 9 shows an identification ID (communication data) using the right trigger condition. The second column from the left shows sub-numbers for identifying individual trigger conditions. For example, the trigger condition with the identification ID of 1 and the sub number of 1 is a condition where the position information of the encoder signal ENCD exceeds a certain value.

The processing of the trigger condition is executed, for example, by the trigger control processing unit 53 (see FIG. 2). For example, when constructing a circuit block based on the configuration information, the trigger control processing unit 53 sets a trigger condition for each identification ID. Alternatively, the trigger control processing unit 53 inputs a trigger condition from the PC 98 after constructing and activating the circuit block. For example, the PC 98 displays a pull-down menu from which a trigger condition shown in FIG. 9 can be selected. The PC 98 outputs the trigger condition selected by the user to the trigger control processing unit 53 via the RS-232C connector 20. Thus, the user can set a trigger condition for each identification ID before the start of logging.

For example, when a trigger condition with an identification ID of 1 and a sub number of 1 is set, the trigger control processing unit 53 sets the trigger condition for the ENC processing unit 55 at the top of FIG. For example, when an instruction to start logging is input from the PC 98 to the FPGA 11, the trigger control processing unit 53 performs settings for the ENC processing unit 55 before starting logging. The set ENC processing unit 55 determines the trigger condition while inputting the encoder signal ENCD via the ABS encoder connector 24. When the position information of the input encoder signal ENCD exceeds a certain value, that is, exceeds a predetermined position, the ENC processing unit 55 notifies the trigger control processing unit 53 that the trigger condition is satisfied. When the trigger control processing unit 53 inputs that the trigger condition is satisfied from the ENC processing unit 55, the trigger control processing unit 53 instructs the logging selector processing unit 51 to start logging. The logging selector processing unit 51 starts logging in which communication data input from the connector (processing unit) selected based on the configuration information or the like is stored in the DDR memory 15. Thus, for example, the trigger condition is satisfied when the head unit 85 (see FIGS. 3 and 4) lowers the suction nozzle 85A (see FIG. 4) below a predetermined position. Then, when the suction nozzle 85A of the head unit 85 reaches a specific position, the logging selector processing unit 51 can start saving communication data. For example, logging can be started on the condition of a predetermined position when the suction nozzle 85A is moved up and down, such as when supplying and mounting electronic components.

The content of the trigger condition is not particularly limited, but the condition that a predetermined condition is satisfied based on the communication data can be used as the trigger condition. For example, when the identification ID is 1 and the sub number is 5 in FIG. 9, when detecting an error in the encoder signal ENCD, the ENC processing unit 55 notifies the trigger control processing unit 53 that the trigger condition is satisfied. Further, as shown in FIG. 9, the number of times an error is detected may be set as the trigger condition 2 (continuous number 1-4 in FIG. 9). In this case, when detecting an error in encoder signal ENCD a plurality of times, ENC processing section 55 notifies trigger control processing section 53 that the trigger condition is satisfied. Further, for example, as shown in each sub-number having the identification ID of 1, a status abnormality or timeout abnormality of the encoder signal ENCD may be used as a trigger condition. Further, trigger conditions can be similarly set for communication data other than the encoder signal ENCD. For example, when a specific command is transmitted in the UART communication, or when the output value of the sensor exceeds a certain value, as shown in each sub number having the identification ID of 7, the trigger condition may be used. Further, as shown in each sub-number of which the identification ID is 15, the trigger condition may be a rising edge of the camera control signals CC1 to CC4, that is, a start of imaging, a switch of the camera 103, a request for logging data, and the like. Further, the trigger condition may be other than the condition shown in FIG. For example, the timing at which the X-axis slide 86 or the Y-axis slide 87 reaches a specific position based on the linear scale signal LSD may be used as a trigger condition. In this case, logging of each communication data can be started at a timing when the head unit 85 reaches a specific position in the XY directions, for example, a suction position of the electronic component. Further, the trigger condition may be different for each communication data. For example, logging of the encoder signal ENCD may be started based on a trigger condition that has reached a specific position, and logging of communication data of UART communication may be started based on a trigger condition of error detection.

(About how to get communication data)
The ENC processing unit 55, the UART processing unit 57, the M2 processing unit 59, the 100base-tx processing unit 61, the high-speed PIO processing unit 62, the low-speed PIO processing unit 63, the ADC processing unit 64, the processing unit 65, etc. Not all data need be output to the logging selector processing unit 51. In the following description, as an example, a case where communication data of EtherCAT (registered trademark) is obtained by the 100base-tx processing unit 61 will be described.

FIG. 10 shows the data format of communication data transmitted and received on the EtherCAT (registered trademark) network. In the EtherCAT (registered trademark) network, for example, frame data of a specific format shown in FIG. 10 is transmitted and received via Ethernet (registered trademark). The frame data is provided with a data area (Ethercat datagram described later) for setting each data of the slave 101 (see FIG. 3). The slave 101 reads data from a data area (read area) set for itself among the frame data received from the controller 89 serving as a master, and drives a sensor or the like based on the read data. Further, the slave 101 writes data such as a processing result in a data area (write area) set for itself, and transfers the written frame data to the master or another slave 101.

As shown in FIG. 10, the frame data has a 14-byte Ethernet (registered trademark) header field, a maximum of 1500 bytes of Ethernet (registered trademark) data field, and a 4-byte FCS (Frame @ Check @ Sequence) field. The Ethernet (registered trademark) header field stores address information of a transmission destination and a transmission source of frame data. The FCS field stores information for detecting an error in frame data such as a CRC code.

The Ethernet (registered trademark) data field has a 16-bit EtherCAT (registered trademark) header field and a 44 to 1498-byte EtherCAT (registered trademark) datagram field. The EtherCAT (registered trademark) header stores data length and type information. In the EtherCAT (registered trademark) datagram field, data for one or more EtherCAT (registered trademark) associated with each of the slaves 101 (hereinafter, referred to as EtherCAT datagram) is stored.

{Each EtherCAT datagram has a 10-byte datagram header field (Datagram @ Header), a maximum 1486-byte data field (Data), and a 2-byte WKC (Working @ Counter) field. The data field stores data transmitted from the master (controller 89) to the slave 101 or data transmitted from the slave 101 to the master or the like. The WKC field stores a count value corresponding to the number of processings successfully performed by the EtherCAT datagram.

For example, when only the data of the master or the specific slave 101 is to be logged, the 100base-tx processing unit 61 shown in FIG. 2 transmits the specific data of the communication data (frame data) input through the RJ-45 connector 31. Get only the feel. For example, the 100 base-tx processing unit 61 sets a predetermined bit position from the beginning of the frame data as a start position, and acquires data of a predetermined number of bits or bytes from the start position. Specifically, a case will be described in which the data of the first EtherCAT datagram (1st @ EtherCAT @ Datagram) is extracted. In this case, the 100base-tx processing unit 61 sets 14 bytes (Ethernet (registered trademark) header field) +16 bits (EtherCAT (registered trademark) header field) from the beginning of the frame data as the start position. The 100base-tx processing unit 61 acquires data of 1st {EtherCAT} Datagram from the start position. For example, the 100base-tx processing unit 61 may acquire data for a predetermined number of bytes (maximum number of bytes) from the start position and discard unnecessary data. Alternatively, the 100base-tx processing unit 61 may acquire, for example, data of the number of bytes based on the information of the datagram header field (Datagram @ Header) from the start position. In addition, the 100base-tx processing unit 61 may change the number of bits or the number of bytes acquired from the start position based on information input from the controller 89, for example. Also, the ENC processing unit 55 other than the 100base-tx processing unit 61 may acquire data from a specific bit position. In this way, the 100base-tx processing unit 61 or the like may extract only specific data and output it to the logging selector processing unit 51 without outputting all of the input communication data to the logging selector processing unit 51.

Incidentally, the mounting device 81 is an example of a logging target device. RS-232C connector 20, ABS encoder connector 24, RS-232C connector 26, M2 connector 28, RJ-45 connector 31, high-speed DI terminal block 33, low-speed DI terminal block 35, high-speed ADC connector 37, camera link The input connector 39 and the camera link output connector 40 are examples of an input unit. The ENC processing unit 55, the UART processing unit 57, the M2 processing unit 59, the 100base-tx processing unit 61, the high-speed PIO processing unit 62, the low-speed PIO processing unit 63, the ADC processing unit 64, and the processing unit 65 are a sampling unit and a detection unit. This is an example. The camera switching unit 73 is an example of a sampling unit. The SATA connector 41 is an example of an external interface.

As described above, according to the above-described embodiment, the following effects can be obtained.
In one aspect of the present embodiment, the logging device 10 includes an ABS encoder connector 24 (an example of an input unit) for inputting a plurality of types of communication data transmitted by a device to be logged (the mounting device 81). , An ENC processing unit 55 that samples each of a plurality of types of communication data input via the ABS encoder connector 24 or the like for a sampling time (see FIG. 5) corresponding to the communication speed. According to this, the ENC processing unit 55 and the like can perform sampling according to the communication speed for each communication data having a different communication speed.

Here, in the conventional logging device, it was assumed that communication data to be logged had the same communication speed. For this reason, for example, the sampling time cannot be set individually for each channel for inputting communication data, and the sampling time has to be shortened in accordance with the fastest channel. As a result, there is a possibility that the amount of data to be sampled, that is, the amount of data to be stored becomes large. In contrast, in the logging device 10 of the present embodiment, by sampling communication data having different communication speeds with a sampling time corresponding to the communication speed, the amount of sampled data can be reduced, and the amount of data to be stored can be reduced.

Note that the present disclosure is not limited to the above-described embodiment, and it goes without saying that various improvements and modifications can be made without departing from the spirit of the present application.
For example, the logging device 10 may be a device that executes only sampling and does not store the sampled data. In this case, the logging device 10 may output the sampled data to the external storage device 42 or the like.
Further, the logging device 10 does not need to determine the presence or absence of an input for each communication data having a different communication speed.
Further, the logging device 10 does not have to include a physical interface (connector) as an input unit. FIG. 11 shows another example of the mounting device 81. The mounting device 81 shown in FIG. 11 transmits and receives a linear scale signal LSD and an encoder signal ENCD via a multiplex communication line. The mounting device 81 connects the multiplexing device 201 on the main body unit 83 side, the multiplexing device 202 on the Y-axis slide 87 side, and the multiplexing device 203 on the head unit 85 side via a multiplex cable (optical cable or the like) 205. The multiplexing device 201 and the like execute multiplexing and demultiplexing of a plurality of communication data by a logic circuit such as an FPGA. In such a case, the logging device 10 may be configured as a part of the FPGA of the multiplexing device 201 (the FPGA 11 in the drawing), for example, as shown in FIG. The FPGA 11 does not include a physical interface such as the ABS encoder connector 24 and the RS-485 driver IC 25 shown in FIG. The FPGA 11 inputs, for example, communication data of a digital signal before being multiplexed by the multiplexing device 201 to the ENC processing unit 55 and the like, and samples the communication data. The FPGA 11 inputs, for example, communication data transmitted from the

multiplexing apparatus

202 or 203 to the multiplexing apparatus 201 and demultiplexed by the multiplexing apparatus 201 to the ENC processing unit 55 or the like, and samples the communication data. Thus, the FPGA 11 can execute logging of each communication data without having a physical interface.

In the above embodiment, the sampling unit and the detection unit according to the present disclosure are mounted on the same processing unit (such as the ENC processing unit 55). The sampling unit that performs sampling and the detection unit that detects the presence or absence of an input may be different processing units (circuit blocks).
In the above embodiment, the storage method of the buffer circuit 54, the buffer circuit 66, the buffer circuit 71, and the like is not limited to the FIFO storage method, but may be, for example, a LIFO storage method.
Further, the logging target device is not limited to the mounting device 81, and various devices that transmit communication data having different communication speeds can be adopted. For example, the device to be logged may be an articulated robot or a machine tool.

10 mm logging device, 20 mm RS-232C connector (input), 24 mm ABS encoder connector (input), 26 mm RS-232C connector (input), 28 mm M2 connector (input), 31 mm RJ-45 connector (input) ), 33 high-speed DI terminal block (input section), 35 low-speed DI terminal block (input section), 37 high-speed ADC connector (input section), 39 camera link input connector (input section), 40 camera link output connector ( Input unit), 41 SATA connector (external interface), 42 external storage device, 55 ENC processing unit (sampling unit, detecting unit), 57 UART processing unit (sampling unit, detecting unit), 59 M2 processing unit (sampling unit, detecting Section), 61 100 base-tx processing section (sampling section, detection section), 6 2 {high-speed PIO processing unit (sampling unit, detecting unit); 63} low-speed PIO processing unit (sampling unit, detecting unit); 64 ADC processing unit (sampling unit, detecting unit); 65} processing unit (sampling unit, detecting unit).

Claims

An input unit for inputting a plurality of types of communication data having different communication speeds transmitted by a device to be logged,
A sampling unit that samples each of the plurality of types of communication data input via the input unit at a sampling time according to a communication speed;
A logging device comprising:
2. The logging device according to claim 1, further comprising: a detection unit that detects whether or not there is an input in each of the plurality of types of communication data at each sampling time.
The detection unit,
The logging device according to claim 2, wherein a difference time between a time when a previous input is detected and a time when a next input is detected is stored in association with the plurality of types of communication data.
The plurality of types of communication data are output in a format of image data, the plurality of types of communication data are set in a data area for setting a pixel value of the image data, and the set type of communication data and the communication data are set. The logging device according to any one of claims 1 to 3, wherein information relating to the sampling time obtained by sampling is added as header information.
Equipped with an external interface that can connect an external storage device,
The sampling unit includes:
The logging device according to any one of claims 1 to 4, wherein the plurality of types of communication data are stored in the external storage device via the external interface.
The sampling unit includes:
The logging device according to claim 1, wherein communication data that can be shared is extracted from the plurality of types of communication data, and the extracted communication data is converted into a common data format.
The sampling unit includes:
The logging device according to any one of claims 1 to 6, wherein a predetermined arithmetic process is performed for each of the plurality of types of communication data and then the communication data is stored.
An input step of inputting a plurality of types of communication data having different communication speeds transmitted by a device to be logged,
A sampling step of sampling each of the plurality of types of communication data input via the input step at a sampling time according to a communication speed;
Sampling methods including: