WO2022176370A1 - 通信システム、スレーブ、コントローラ、および、通信方法 - Google Patents
通信システム、スレーブ、コントローラ、および、通信方法 Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/42—Loop networks
- H04L12/437—Ring fault isolation or reconfiguration
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
- H04L41/06—Management of faults, events, alarms or notifications
- H04L41/0677—Localisation of faults
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L43/00—Arrangements for monitoring or testing data switching networks
- H04L43/08—Monitoring or testing based on specific metrics, e.g. QoS, energy consumption or environmental parameters
- H04L43/0805—Monitoring or testing based on specific metrics, e.g. QoS, energy consumption or environmental parameters by checking availability
- H04L43/0811—Monitoring or testing based on specific metrics, e.g. QoS, energy consumption or environmental parameters by checking availability by checking connectivity
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L45/00—Routing or path finding of packets in data switching networks
- H04L45/28—Routing or path finding of packets in data switching networks using route fault recovery
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L49/00—Packet switching elements
- H04L49/10—Packet switching elements characterised by the switching fabric construction
- H04L49/113—Arrangements for redundant switching, e.g. using parallel planes
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L49/00—Packet switching elements
- H04L49/25—Routing or path finding in a switch fabric
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L7/00—Arrangements for synchronising receiver with transmitter
- H04L7/0079—Receiver details
Definitions
- the present disclosure relates to communication systems.
- Patent Document 1 describes a communication system in which a controller and a plurality of slaves are connected in a ring. This communication system confirms the network connection status by periodically transmitting a network presence frame from the controller to a plurality of slaves by broadcasting. Then, based on the confirmation result, the transmission route of the frame is changed.
- the network connection status can only be confirmed at the timing of transmitting the network presence frame. For this reason, it may take a long time to change the frame transmission path after an abnormality related to network connection occurs.
- an object of the present disclosure is to provide a communication system and the like that can shorten the time required from the occurrence of an abnormality related to network connection until the frame transmission path is changed, compared to conventional systems. do.
- a communication system is a communication system that includes a controller and first to N-th slaves (N is an integer equal to or greater than 2).
- the controller has a first input/output port, a second input/output port, and a controller transmission control section.
- Each of the first slave to the Nth slave has a third input/output port, a fourth input/output port, a slave transmission control section, and a detection section.
- the first input/output port and the fourth input/output port of the first slave are connected.
- the third input/output port of the Nth slave is connected to the second input/output port.
- the controller transmission control unit generates and transmits a normal frame, receives a disconnection node notification frame, and executes a first controller operation mode and a second controller operation mode.
- the first controller operation mode repeatedly transmits the normal frame from the first input/output port.
- the second controller operation mode repeatedly transmits the normal frame from the first input/output port and the second input/output port.
- the slave transmission control unit transmits and receives the normal frame, generates the disconnected node notification frame, transmits and receives the disconnected node notification frame, and operates in a first slave operation mode and a second slave operation mode. and run In the first slave operation mode, when one of the third input/output port and the fourth input/output port receives the normal frame, the third input/output port and the fourth input/output port receive the normal frame. 4 input/output ports, the normal frame is transmitted from the other input/output port. In the second slave operation mode, when the one input/output port receives the normal frame, the one input/output port transmits the normal frame.
- the detection unit detects an abnormality related to connection of the third input/output port and an abnormality related to connection of the fourth input/output port.
- the slave transmission control unit detects an abnormality related to the connection of the third input/output port or the connection of the fourth input/output port when the detection unit detects an abnormality related to the connection of the fourth input/output port when operating in the first slave operation mode.
- the first slave operation mode is switched to the second slave operation mode.
- the slave transmission control unit generates the broken node notification frame indicating that a change in the connection state has been detected, and transmits the broken node notification frame from the third input/output port and the fourth input/output port. Attempt to send a frame.
- the slave transmission control unit transmits the disconnection node notification frame from the other input/output port.
- the controller transmission control unit controls the first to the second controller operation mode.
- a slave includes a first input/output port, a second input/output port, a slave transmission control section, and a detection section.
- the slave transmission control unit transmits and receives a normal frame, generates a disconnected node notification frame, transmits and receives the disconnected node notification frame, and operates in a first slave operation mode, a second slave operation mode, to run.
- the first slave operation mode when one of the first input/output port and the second input/output port receives the normal frame, the normal frame is received by the first input/output port. and the second input/output port.
- the second slave operation mode is an operation mode in which, when the normal frame is received by the one input/output port, a normal frame based on the normal frame is transmitted from the one input/output port.
- the detection unit detects an abnormality related to connection of the first input/output port and an abnormality related to connection of the first input/output port.
- the slave transmission control unit when operating in the first slave operation mode, detects whether the detection unit detects an abnormality related to the connection of the first input/output port or the connection of the second input/output port. When an abnormality is detected, the first slave operation mode is switched to the second slave operation mode.
- the slave transmission control unit attempts to transmit a disconnection node notification frame indicating that a change in connection state has been detected from the first input/output port and the second input/output port. At the same time, when the one input/output port receives the disconnection node notification frame, the slave transmission control unit transmits the disconnection node notification frame from the other input/output port.
- a controller includes a first input/output port, a second input/output port, and a controller transmission control section.
- the controller transmission control unit generates and transmits a normal frame, and executes a first controller operation mode and a second controller operation mode.
- the first controller operation mode is an operation mode in which the normal frame is repeatedly transmitted from the first input/output port.
- the second controller operation mode is an operation mode in which the normal frame is repeatedly transmitted from the first input/output port and the second input/output port.
- the controller transmission control unit when operating in the first controller operation mode, disconnection indicating that the first input/output port or the second input/output port detects a change in connection state. When a node notification frame is received, the first controller operating mode is switched to the second controller operating mode.
- a communication method is a communication method performed by a communication system.
- the communication system includes a controller and first to N-th slaves (N is an integer equal to or greater than 2).
- the controller has a first input/output port, a second input/output port, and a controller transmission control section.
- Each of the first to Nth slaves has a third input/output port, a fourth input/output port, a slave transmission control section, and a detection section.
- the first input/output port and the fourth input/output port of the first slave are connected.
- the third input/output port of the Nth slave is connected to the second input/output port.
- the controller transmission control unit generates the normal frame, repeatedly transmits the normal frame from the first input/output port in the first controller operation mode, and performs the second controller operation. mode, the normal frame is repeatedly transmitted from the first input/output port and the second input/output port.
- the slave transmission control unit of each of the first slave to the Nth slave transmits the normal frame to the third input/output port and the fourth input/output port in the first slave operation mode.
- the normal frame is transmitted from the other input/output port of the third input/output port and the fourth input/output port. Further, when the one input/output port receives the normal frame in the second slave operation mode, the slave transmission control unit transmits the normal frame from the one input/output port.
- the detection unit detects an abnormality related to connection of the third input/output port and an abnormality related to connection of the fourth input/output port.
- the slave transmission control unit detects an abnormality related to the connection of the third input/output port or the connection of the fourth input/output port when the detection unit detects an abnormality related to the connection of the fourth input/output port when operating in the first slave operation mode.
- the first slave operation mode is switched to the second slave operation mode.
- the slave transmission control unit generates a broken node notification frame indicating that a change in the connection state has been detected, and transmits the broken node notification frame from the third input/output port and the fourth input/output port. try to send
- the slave transmission control unit transmits a disconnection node notification frame based on the disconnection node notification frame from the other input/output port.
- the controller transmission control unit controls the first to the second controller operation mode.
- the time required from the occurrence of an abnormality related to network connection until the frame transmission route is changed can be reduced to can also be shortened.
- FIG. 1 is a block diagram showing an example of the configuration of a communication system according to Embodiment 1.
- FIG. 2 is a block diagram showing an example of a configuration of a controller according to Embodiment 1.
- FIG. 3 is a block diagram showing an example of a configuration of a slave according to Embodiment 1.
- FIG. 4 is a schematic diagram showing the transmission path of normal frames.
- FIG. 5 is a timing chart showing transmission/reception timings of normal frames and operation timings of synchronization timing signals.
- FIG. 6 is a schematic diagram showing a normal frame transmission route.
- FIG. 7 is a timing chart showing transmission/reception timings of normal frames and operation timings of synchronization timing signals.
- FIG. 8 is a schematic diagram showing a state in which a cable disconnection abnormality occurs in the cable according to Embodiment 1.
- FIG. FIG. 9 is a sequence diagram of the first operation according to Embodiment 1.
- FIG. 10 is a schematic diagram showing a state in which a phi terminal abnormality occurs in the TX phi terminal according to the first embodiment.
- 11 is a sequence diagram of a second operation according to Embodiment 1.
- FIG. FIG. 12 is a schematic diagram showing a state in which a phi terminal abnormality occurs in the RX phi terminal according to the first embodiment.
- 13 is a sequence diagram of a third operation according to the first embodiment;
- FIG. FIG. 14 is a schematic diagram showing transmission paths of normal frames.
- FIG. 15 is a schematic diagram showing recovery from the cable disconnection abnormality of the cable according to the first embodiment.
- 16 is a sequence diagram of a fourth operation according to Embodiment 1.
- FIG. 17 is a flowchart showing the operation of the slave according to Embodiment 1.
- FIG. 18 is a flowchart showing the operation of the slave according to Embodiment 1.
- FIG. 19 is a flowchart showing the operation of the controller according to Embodiment 1.
- FIG. 20 is a block diagram showing an example of a configuration of a controller according to Embodiment 2.
- FIG. FIG. 21 is a schematic diagram showing how slaves are replaced according to the second embodiment.
- FIG. 22 is a schematic diagram showing how a slave is removed according to the second embodiment.
- 23 is a block diagram showing an example of the configuration of a communication system according to Embodiment 3.
- the inventors have found that in a communication system in which a controller and a plurality of slaves are connected in a ring, the time required from the occurrence of an abnormality related to the network connection until the frame transmission route is changed is We have repeatedly studied and experimented on how to shorten the time. As a result, the inventors found that each slave detects an abnormality related to network connection and notifies the controller of the detected abnormality, so that the controller can relatively The knowledge that the occurrence of the abnormality can be confirmed in a short time was obtained. Based on this knowledge, the inventors conducted further studies and experiments. As a result, the following communication system etc. were conceived.
- a communication system is a communication system that includes a controller and first to N-th slaves (N is an integer equal to or greater than 2).
- the controller has a first input/output port, a second input/output port, and a controller transmission control section.
- Each of the first slave to the Nth slave has a third input/output port, a fourth input/output port, a slave transmission control section, and a detection section.
- the first input/output port and the fourth input/output port of the first slave are connected.
- the third input/output port of the Nth slave is connected to the second input/output port.
- the controller transmission control unit generates and transmits a normal frame, receives a disconnection node notification frame, and executes a first controller operation mode and a second controller operation mode.
- the first controller operation mode repeatedly transmits the normal frame from the first input/output port.
- the second controller operation mode repeatedly transmits the normal frame from the first input/output port and the second input/output port.
- the slave transmission control unit transmits and receives the normal frame, generates the disconnected node notification frame, transmits and receives the disconnected node notification frame, and operates in a first slave operation mode and a second slave operation mode. and run In the first slave operation mode, when one of the third input/output port and the fourth input/output port receives the normal frame, the third input/output port and the fourth input/output port receive the normal frame. 4 input/output ports, the normal frame is transmitted from the other input/output port. In the second slave operation mode, when the one input/output port receives the normal frame, the one input/output port transmits the normal frame.
- the detection unit detects an abnormality related to connection of the third input/output port and an abnormality related to connection of the fourth input/output port.
- the slave transmission control unit detects an abnormality related to the connection of the third input/output port or the connection of the fourth input/output port when the detection unit detects an abnormality related to the connection of the fourth input/output port when operating in the first slave operation mode.
- the first slave operation mode is switched to the second slave operation mode.
- the slave transmission control unit generates the broken node notification frame indicating that a change in the connection state has been detected, and transmits the broken node notification frame from the third input/output port and the fourth input/output port. Attempt to send a frame.
- the slave transmission control unit transmits the disconnection node notification frame from the other input/output port.
- the controller transmission control unit controls the first to the second controller operation mode.
- the normal frame transmission path is the controller , through the first slave to the N-th slave, and then return to the controller again.
- the slave when the detector detects an abnormality in the connection of the third input/output port or in the connection of the fourth input/output port in any of the slaves, the slave sends a signal to the controller. Then, a broken node notification frame is transmitted. As a result, the controller can receive the disconnection node notification frame in a relatively short period of time after an abnormality related to network connection occurs. Then, when the controller receives the disconnection node notification frame, the controller transmission control unit switches the operation mode from the first controller operation mode to the second controller operation mode.
- the slave transmission control unit changes the operation mode to the first mode. Switch from the slave mode of operation to a second slave mode of operation.
- the communication path of the communication frame is changed to a transmission path consisting of two paths, the first path and the second path.
- the slave transmission control unit when the disconnected node notification frame includes a node count value indicating an integer value of 0 or more, and the slave transmission control unit operates in the first slave operation mode, the following (1) and It may have the feature of (2).
- the detection unit When the detection unit detects an abnormality related to the connection of the one input/output port, it attempts to transmit a disconnected node notification frame including a node count value indicating 0 from the one input/output port. Then, an attempt is made to transmit a disconnection node notification frame including a node count value indicating 1 from the other input/output port.
- the operation mode is switched from the first slave operation mode to the second slave operation mode.
- the other input/output port transmits a broken node notification frame including a node count value obtained by adding 1 to the node count value included in the broken node notification frame.
- the controller further controls, when the first input/output port and the second input/output port receive a disconnection node notification frame, the node included in the disconnection node notification frame received by the first input/output port.
- An abnormal position determination unit may be provided for identifying the position where an abnormality occurs based on the count value and the node count value included in the disconnected node notification frame received by the second input/output port.
- the slave transmission control unit of the slave can also switch the operating mode from the first slave operating mode to the second slave operating mode. In addition, this makes it possible to determine the location of the occurrence of the abnormality.
- each of the first slave to the Nth slave further controls the first slave according to the timing at which the third input/output port or the fourth input/output port receives a normal frame.
- a synchronous timing calculator for calculating a synchronous timing signal indicating a synchronous timing at which the N-th slave operates synchronously;
- the synchronization timing calculation unit receives a disconnection node notification frame at the input/output port on the side of receiving the normal frame, and the detection unit detects an abnormality related to the connection of the input/output port on the side of receiving the normal frame. If detected, the calculation method for calculating the synchronization timing signal may be updated so that the synchronization timing does not change when the input/output port other than the input/output port receives the normal frame.
- the first slave to the Nth slave can operate in synchronization.
- the slave transmission control unit detects, when the slave transmission control unit is operating in the first slave operation mode, whether the detection unit detects an abnormality related to the connection of the third input/output port or the fourth input/output port.
- the MACID (Media Access Control ID) of the slave including the slave transmission control unit may be included in a disconnection node notification frame to be transmitted when an abnormality related to port connection is detected.
- the controller further includes: and the MACID included in the disconnected node notification frame received by the second input/output port.
- the controller can determine the type of abnormality.
- the detection unit may detect recovery from an abnormality related to the connection of the third input/output port and recovery from an abnormality related to the connection of the fourth input/output port.
- the detection unit recovers from an abnormality related to the connection of the third input/output port or restores the fourth input/output port.
- the operation mode is switched from the second slave operation mode to the first slave operation mode, and the third input/output port and the fourth input/output are switched.
- a disconnection note notification frame may be transmitted from the port.
- the controller transmission control unit changes the operation mode to the A second controller operating mode may be switched to the first controller operating mode.
- the transmission route can be restored when the abnormality related to the connection is recovered.
- a slave includes a first input/output port, a second input/output port, a slave transmission control section, and a detection section.
- the slave transmission control unit transmits the normal frame.
- the detection unit detects an abnormality related to connection of the first input/output port and an abnormality related to connection of the first input/output port.
- the detection unit detects an abnormality related to the connection of the first input/output port or the connection of the second input/output port.
- the operation mode is switched from the first slave operation mode to the second slave operation mode.
- the slave transmission control unit generates the broken node notification frame indicating that a change in connection state has been detected, and sends the broken node notification from the first input/output port and the second input/output port. Attempt to send a frame.
- the slave transmission control unit transmits the broken node notification frame from the other input/output port.
- the slave with the above configuration can transmit a disconnection node notification frame when the detection unit detects an abnormality related to the connection of the first input/output port or an abnormality related to the connection of the second input/output port.
- the controller can receive the disconnection node notification frame in a relatively short period of time after an abnormality related to network connection occurs. Then, when the controller receives the disconnection node notification frame, it can change the transmission route of the frame.
- the disconnection node notification frame includes a node count value indicating an integer value of 0 or more
- the slave transmission control unit operates in the first slave operation mode
- (1) and (2) may be performed.
- the detection unit detects an abnormality related to the connection of the first input/output port, it attempts to transmit a disconnected node notification frame including a node count value indicating 0 from the one input/output port. , attempts to transmit a disconnected node notification frame including a node count value of 1 from the other input/output port.
- the one input/output terminal receives a disconnected node notification frame including a node count value indicating 0, the operation mode is switched from the first slave operation mode to the second slave operation mode.
- the one input/output port receives the broken node notification frame
- the other input/output port transmits a broken node notification frame including a node count value obtained by adding 1 to the node count value included in the broken node notification frame. .
- it may further include a synchronization timing calculation unit that calculates a synchronization timing signal indicating synchronization timing based on the timing at which the first input/output port or the second input/output port receives the normal frame.
- the synchronization timing calculation unit receives a disconnection node notification frame at the input/output port on the side of receiving the normal frame, and the detection unit detects an abnormality related to the connection of the input/output port on the side of receiving the normal frame. If detected, the calculation method for calculating the synchronization timing signal may be updated so that the synchronization timing does not change when the input/output port other than the input/output port receives the normal frame.
- the slave transmission control unit detects, when the slave transmission control unit is operating in the first slave operation mode, whether the detection unit detects an abnormality related to the connection of the first input/output port or the second input/output port.
- the MACID (Media Access Control ID) of the slave including the slave transmission control unit may be included in the disconnection node notification frame to be transmitted when an abnormality related to port connection is detected.
- the detection unit may detect recovery from an abnormality related to the connection of the first input/output port and recovery from an abnormality related to the connection of the second input/output port.
- the detection unit recovers from an abnormality related to the connection of the first input/output port or restores the second input/output port.
- the operation mode may be switched from the second slave operation mode to the first slave operation mode when recovery from an abnormality related to port connection is detected.
- the slave transmission control unit may transmit a disconnection node notification frame from the first input/output port and the second input/output port.
- a controller includes a first input/output port, a second input/output port, and a controller transmission control section.
- the controller transmission control unit generates a normal frame, repeatedly transmits the normal frame from the first input/output port in a first controller operation mode, and transmits the normal frame in a second controller operation mode by: It repeatedly transmits from the first input/output port and the second input/output port. Further, the controller transmission control unit notifies that the first input/output port or the second input/output port detects a change in connection state when operating in the first controller operation mode. is received, the operation mode is switched from the first controller operation mode to the second controller operation mode.
- the controller with the above configuration can change the communication path of the communication frame by receiving the disconnection note notification frame without transmitting the network presence frame as in the conventional technology.
- MACID may be included in the disconnected node notification frame.
- the MACID included in the disconnected node notification frame received by the first input/output port; 2 may include an abnormality type determination unit that determines the type of abnormality based on the MACID included in the disconnected node notification frame received by the input/output port No. 2.
- the operation mode is changed to the second controller operation mode.
- the mode of operation may be switched to the first controller mode of operation.
- a communication method is a communication method performed by a communication system.
- the communication system includes a controller and first to N-th slaves (N is an integer equal to or greater than 2).
- the controller has a first input/output port, a second input/output port, and a controller transmission control section.
- Each of the first to Nth slaves has a third input/output port, a fourth input/output port, a slave transmission control section, and a detection section.
- the first input/output port and the fourth input/output port of the first slave are connected.
- the third input/output port of the Nth slave is connected to the second input/output port.
- the controller transmission control unit generates a normal frame, repeatedly transmits the normal frame from the first input/output port in a first controller operation mode, and transmits the normal frame repeatedly in a second controller operation mode. , a normal frame is repeatedly transmitted from the first input/output port and the second input/output port.
- the slave transmission control units of the first slave to the Nth slave transmit normal frames to the third input/output port and the fourth input/output port in the first slave operation mode.
- the normal frame is transmitted from the other input/output port of the third input/output port and the fourth input/output port. Further, when the one input/output port receives a normal frame in the second slave operation mode, the slave transmission control unit transmits the normal frame from the one input/output port.
- the detection unit detects an abnormality related to connection of the third input/output port and an abnormality related to connection of the fourth input/output port.
- the slave transmission control unit detects an abnormality related to the connection of the third input/output port or the connection of the fourth input/output port when the detection unit detects an abnormality related to the connection of the fourth input/output port when operating in the first slave operation mode.
- the first slave operation mode is switched to the second slave operation mode.
- the slave transmission control unit generates a broken node notification frame indicating that a change in the connection state has been detected, and transmits the broken node notification frame from the third input/output port and the fourth input/output port. try to send
- the slave transmission control unit transmits the disconnection node notification frame from the other input/output port.
- the controller transmission control unit transmits the first Switching from the controller operating mode to the second controller operating mode.
- the normal frame transmission path is the controller , through the first slave to the N-th slave, and then return to the controller again.
- the slave when the detector detects an abnormality in the connection of the third input/output port or in the connection of the fourth input/output port in any of the slaves, the slave sends a signal to the controller. Then, a broken node notification frame is transmitted. As a result, the controller can receive the disconnection node notification frame in a relatively short period of time after an abnormality related to network connection occurs. Then, when the controller receives the disconnection node notification frame, the controller transmission control unit switches the operation mode from the first controller operation mode to the second controller operation mode.
- the slave transmission control unit sets the operation mode to the first mode for the slave for which the detection unit has detected an abnormality related to the connection of the third input/output port or the abnormality related to the connection of the fourth input/output port.
- slave operation mode to a second slave operation mode.
- the communication path of the communication frame is changed to a transmission path consisting of two paths, the first path and the second path shown below.
- the first route is from the controller in order, from the first slave to the slave in front of the location where an abnormality related to the connection occurs, and back to the controller again via the first slave (that is, the route related to the connection). path that is looped back at the slave before the abnormality).
- the second route is from the controller to the Nth slave, the previous slave that has an abnormality related to connection, and returns to the controller again via the Nth slave. route that is looped back at the slave in front of the point).
- FIG. 1 is a block diagram showing an example of the configuration of a communication system 1 according to Embodiment 1. As shown in FIG.
- a communication system 1 includes a controller 10 having a first input/output port 11 and a second input/output port 12, and a third input/output port 21 and a fourth input/output port 21, respectively.
- a plurality of slaves 20 (the first slave 20A, the second slave 20B, and the third slave 20C in FIG. 1 correspond) each having an input/output port 22 .
- slaves 20 there are three slaves 20, namely, a first slave 20A, a second slave 20B, and a third slave 20C, but the number of slaves 20 is not necessarily three. It need not be limited to a configuration where Further, hereinafter, when there is no need to explicitly distinguish between the first slave 20A, the second slave 20B, and the third slave 20C, the first slave 20A and the second slave 20B and the third slave 20C are simply referred to as slaves 20 as well.
- the first input/output port 11 and the fourth input/output port 22 of the first slave 20A are connected by a cable 30A.
- a cable 30B connects the third input/output port 21 of the first slave 20A and the fourth input/output port 22 of the second slave 20B.
- a cable 30C connects the third input/output port 21 of the second slave 20B and the fourth input/output port 22 of the third slave 20C.
- a cable 30D connects the third input/output port 21 and the second input/output port 12 of the third slave 20C.
- the cables 30A, 30B, 30C, and 30D will be referred to as the cables 30A, 30B, 30C, and 30D when there is no need to explicitly distinguish them. It is also simply referred to as cable 30 .
- the first input/output port 11 has a transmission terminal TX111 and a reception terminal RX112.
- the second input/output port 12 has a transmission terminal TX121 and a reception terminal RX122.
- the third input/output port 21 has a transmission terminal TX211 and a reception terminal RX212.
- the fourth input/output port 22 has a transmission terminal TX221 and a reception terminal RX222.
- the cable 30 has a first connection path and a second connection path, and the first connection path connects the transmission terminal TX111 and the reception terminal RX222, the transmission terminal TX121 and the reception terminal RX212, or the transmission terminal TX221 and the reception terminal.
- terminal RX212, and the second connection path connects the transmission terminal TX221 and the reception terminal RX112, the transmission terminal TX211 and the reception terminal RX122, or the transmission terminal TX211 and the reception terminal RX222.
- FIG. 2 is a block diagram showing an example of the configuration of the controller 10. As shown in FIG.
- the controller 10 includes a first input/output port 11, a second input/output port 12, a controller transmission control section 13, an abnormality position determination section 14, and an abnormality type determination section 15. have.
- the first input/output port 11 has a connector 110 having a transmission terminal TX 111 and a reception terminal RX 112 and a PHY 130 .
- the phi 130 has a TX phi terminal 131 and an RX phi terminal 132. From the TX phi terminal 131, a frame is transmitted to the communication device to which it is connected. Receive frames from the device. TX phi terminal 131 connects to transmit terminal TX111 and RX phi terminal 132 connects to receive terminal RX112.
- the phi 130 also detects a link between the RX phi terminal 132 and its connected communication device.
- the second input/output port 12 has a connector 120 having a transmission terminal TX 121 and a reception terminal RX 122 and a phi 150 .
- the phi 150 has a TX phi terminal 151 and an RX phi terminal 152. From the TX phi terminal 151, a frame is transmitted to the communication device to which it is connected. Receive frames from the device. The TX phi terminal 151 connects to the transmit terminal TX121 and the RX phi terminal 152 connects to the receive terminal RX122.
- the phi 150 also detects a link between the RX phi terminal 152 and its connected communication device.
- the controller transmission control unit 13 operates in the first controller operation mode or the second controller operation mode.
- the controller transmission control unit 13 operates in the first controller operation mode in the initial state.
- the controller transmission control unit 13 repeatedly transmits normal frames from the first input/output port 11 in the first controller operation mode. More specifically, in the first controller operation mode, the controller transmission control unit 13 controls the phi 130 to repeatedly transmit normal frames from the TX phi terminal 131 to its connection destination communication device.
- the controller transmission control unit 13 may transmit a normal frame from the first input/output port 11 every predetermined period in the first controller operation mode.
- the controller transmission control unit 13 repeatedly transmits normal frames from the first input/output port 11 and the second input/output port 12 in the second controller operation mode. More specifically, controller transmission control unit 13 controls phi 130 and phi 150 in the second controller operation mode to transmit normal frames from TX phi terminal 131 and TX phi terminal 151 to their connection. Repeat transmission to the destination communication device.
- controller transmission control unit 13 may transmit normal frames from the first input/output port 11 and the second input/output port 12 at predetermined intervals in the second controller operation mode.
- the controller transmission control unit 13 changes the operation mode. from the first controller operating mode to the second controller operating mode.
- the controller transmission control unit 13 changes the operation mode to the second controller operation mode. to the first controller operation mode.
- the controller transmission control unit 13 may be realized, for example, by the processor 101 of the controller 10 executing a program stored in the memory 102 of the controller 10 .
- the abnormal position determination unit 14 determines whether the node indicating an integer value of 0 or more is included in the disconnection node notification frame. Based on the count value, the location where the abnormality occurs is determined. The details of the operation performed by the abnormal position determination unit 14 will be described later.
- the abnormal position determination unit 14 may be implemented, for example, by the processor 101 of the controller 10 executing a program stored in the memory 102 of the controller 10 .
- the abnormality type determination unit 15 When the first input/output port 11 and the second input/output port 12 receive the disconnection node notification frame, the abnormality type determination unit 15, based on the MACID of the slave 20 included in the disconnection node notification frame, A determination is made as to the type of abnormality. Details of the operation performed by the abnormality type determination unit 15 will be described later.
- the abnormality type determination unit 15 may be realized, for example, by executing a program stored in the memory 102 of the controller 10 by the processor 101 of the controller 10 .
- FIG. 3 is a block diagram showing an example of the configuration of the slave 20. As shown in FIG.
- the slave 20 includes a third input/output port 21, a fourth input/output port 22, a slave transmission control section 23, a synchronization timing calculation section 24, and a detection section 25.
- the third input/output port 21 has a connector 210 having a transmission terminal TX 211 and a reception terminal RX 212 and a phi 230 .
- the phi 230 has a TX phi terminal 231 and an RX phi terminal 232. From the TX phi terminal 231, a frame is transmitted to the communication device to which it is connected. Receive frames from the device.
- the TX phi terminal 231 connects to the transmit terminal TX211 and the RX phi terminal 232 connects to the receive terminal RX212.
- Phi 230 also detects a link between RX Phi terminal 232 and its connected communication device.
- the fourth input/output port 22 has a connector 220 having a transmission terminal TX 221 and a reception terminal RX 222 and a phi 250 .
- the phi 250 has a TX phi terminal 251 and an RX phi terminal 252. From the TX phi terminal 251, a frame is transmitted to the communication device to which it is connected. Receive frames from the device.
- the TX phi terminal 251 connects to the transmit terminal TX221 and the RX phi terminal 252 connects to the receive terminal RX222.
- Phi 250 detects a link between RX Phi terminal 252 and its connected communication device.
- the detection unit 25 detects an abnormality related to the connection of the third input/output port 21 and an abnormality related to the connection of the fourth input/output port 22 . More specifically, the detection unit 25 detects the third third By detecting an abnormality related to the connection of the input/output port 21 and changing the state in which the phi 250 is detecting the link between the RX phi terminal 252 and the communication device to which it is connected to the state in which it is not detecting, the second 4 is detected.
- the detection unit 25 detects recovery from an abnormality related to the connection of the third input/output port 21 and recovery from an abnormality related to the connection of the fourth input/output port 22 . More specifically, the detection unit 25 changes from the state in which the phi 230 does not detect the link between the RX phi terminal 232 and the communication device to which it is connected to the state in which the phi 230 detects the link, thereby causing the third
- the phi 250 changes from the state of not detecting the link between the RX phi terminal 252 and the communication device to which it is connected to the state of detecting , recovery of an abnormality related to the connection of the fourth input/output port 22 is detected.
- the detection unit 25 may be realized, for example, by the processor 201 of the slave 20 executing a program stored in the memory 202 of the slave 20 .
- the slave transmission control unit 23 operates in the first slave operation mode or the second slave operation mode.
- the slave transmission control unit 23 operates in the first slave operation mode in the initial state.
- the slave transmission control unit 23 transmits the normal frame. , from the other input/output port of the third input/output port 21 and the fourth input/output port 22 . More specifically, in the first slave operation mode, the slave transmission control unit 23 controls the phi 230 and phi 250 so that when the RX phi terminal 232 receives a normal frame, the normal frame is transferred to the TX When the RX phi terminal 252 receives a normal frame, the TX phi terminal 231 transmits the normal frame.
- the normal frame transmitted by the other input/output port is a normal frame obtained by controlling the phi 230 and phi 250 with respect to the normal frame received by the one input/output port.
- the received normal frame may become the transmitted normal frame as it is under the control of the phi 230 and the phi 250, that is, the normal frame may be passed through.
- the received normal frame may be converted into the transmitted normal frame under the control of the phi 230 and the phi 250 .
- the slave transmission control unit 23 transmits the normal frame. , from one of its input/output ports. More specifically, in the second slave operation mode, the slave transmission control unit 23 controls the phi 230 and phi 250 so that when the RX phi terminal 232 receives a normal frame, the normal frame is transferred to the TX When the RX phi terminal 252 receives a normal frame, the normal frame is transmitted from the TX phi terminal 251 .
- the detection unit 25 detects an abnormality related to the connection of the third input/output port 21 or the connection of the fourth input/output port 22. is detected, the operation mode is switched from the first slave operation mode to the second slave operation mode. At the same time, the slave transmission control unit 23 attempts to transmit a disconnection node notification frame indicating detection of a change in connection state from the third input/output port 21 and the fourth input/output port 22 . More specifically, the slave transmission control unit 23 controls the phi 230 and phi 250 to attempt transmission of the disconnection node notification frame from the TX phi terminal 231, and transmits the disconnection note notification frame from the TX phi terminal 251. to try.
- the slave transmission control unit 23 includes the MACID of the slave 20 including the slave transmission control unit 23 in the disconnection node notification frame to be attempted to be transmitted. Also, at this time, the slave transmission control unit 23 detects an abnormality related to the connection of one of the third input/output port 21 and the fourth input/output port 22 by the detection unit 25. Then, from one of the input/output ports, an attempt is made to transmit a disconnected node notification frame including a node count value indicating 0, and from the other input/output port an attempt is made to transmit a disconnected node notification frame including a node count value indicating 1. .
- the detection unit 25 detects the recovery from the abnormality related to the connection of the third input/output port 21 or the fourth input/output port 22. , the operation mode is switched from the second slave operation mode to the first slave operation mode, and from the third input/output port 21 and the fourth input/output port 22. , send a broken node notification frame. More specifically, the slave transmission control unit 23 controls the phi 230 and phi 250 to transmit a disconnection node notification frame from the TX phi terminal 231 and transmit a disconnection note notification frame from the TX phi terminal 251 .
- the slave transmission control unit 23 includes the MACID of the slave 20 including the slave transmission control unit 23 in the disconnected node notification frame to be transmitted.
- the slave transmission control unit 23 detects that the detection unit 25 has recovered from the abnormality related to the connection of one of the third input/output port 21 and the fourth input/output port 22. Then, one of the input/output ports transmits a disconnected node notification frame including a node count value indicating 0, and the other input/output port transmits a disconnected node notification frame including a node count value indicating 1. .
- the slave transmission control unit 23 transmits the disconnection node notification frame to the other input/output port. Send from the output port. More specifically, the slave transmission control unit 23 controls the phi 230 and the phi 250 to transmit the disconnection node notification frame from the TX phi terminal 251 when the RX phi terminal 232 receives the disconnection node notification frame. When the RX phi terminal 252 receives the disconnection node notification frame, the TX phi terminal 231 transmits the disconnection node notification frame.
- the broken node notification frame transmitted by the other input/output port is a broken node notification frame obtained by controlling the phi 230 and phi 250 for the disconnected node notification frame received by the one input/output port.
- the received broken node notification frame may become the broken node notification frame to be transmitted as it is under the control of the phi 230 and phi 250, that is, the broken node notification frame may be passed through.
- the received broken node notification frame may be converted into the broken node notification frame to be transmitted under the control of the phi 230 and phi 250 .
- the slave transmission control unit 23 transmits a disconnection node notification frame including a node count value obtained by adding 1 to the node count value included in the disconnection node notification frame received by one input/output port from the other input/output port. Send.
- the third input/output port 21 or the fourth input/output port 22 receives a disconnection node notification frame including a node count value indicating 0. is received, the operating mode is switched from the first slave operating mode to the second slave operating mode.
- the third input/output port 21 or the fourth input/output port 22 transmits a disconnection node notification frame including a node count value including 0.
- the operating mode is switched from the second slave operating mode to the first slave operating mode.
- the slave transmission control unit 23 may be realized, for example, by the processor 201 of the slave 20 executing a program stored in the memory 202 of the slave 20 .
- the synchronization timing calculator 24 calculates a synchronization timing indicating a synchronization timing at which all of the plurality of slaves 20 operate in synchronization, based on the timing at which the third input/output port 21 or the fourth input/output port 22 receives normal frames. Calculate timing signals.
- FIG. 2 is a schematic diagram showing a normal frame transmission path (hereinafter also referred to as a “main transmission path”) when operating in mode.
- This main transmission path is a normal frame transmission path when the controller transmission control unit 13 and the slave transmission control unit 23 are in the initial state.
- the main transmission path is the path indicated by the solid arrow.
- the main transmission path is a transmission path that returns from the controller 10 to the controller 10 via the first slave 20A, second slave 20B, and third slave 20C in order.
- FIG. 5 shows the transmission/reception timing of the normal frame 50 in the controller 10 and each slave 20 and the synchronization timing calculator 24 of each slave 20 when the transmission path of the normal frame 50 is the main transmission path.
- 4 is a timing chart showing an example of operation timing of a synchronous timing signal XSYNC; In FIG. 5, the horizontal axis is time t.
- the synchronization timing calculator 24 of each slave 20 calculates a synchronization timing signal XSYNC that operates in synchronization with each other.
- the synchronization timing calculation unit 24 determines the number of slaves 20 (here, 3) and the order of connection from the controller 10 in the main transmission path (here, 1 for the first slave 20A and 1 for the second slave 20B). 2 and 3) are stored in the third slave 20C in advance, and the pulse timing T of the synchronization timing signal XSYNC is calculated by (Equation 1).
- connection order on the transmission path is the connection order from the controller 10 on the main transmission path, which is stored in advance by the synchronization timing calculator 24 .
- the controller transmission control unit 13 operates in the second controller operation mode
- the slave transmission control unit 23 of the first slave 20A operates in the first slave operation mode
- the second slave 20B and the third slave 20B operate in the first slave operation mode.
- this first redundant transmission path is, for example, when the transmission path for normal frames is the main transmission path, the detector 25 of the second slave 20B is connected to the third input/output port 21. and when the detection unit 25 of the third slave 20C detects an abnormality related to the connection of the fourth input/output port 22, etc., the main transmission path is changed and formed. This is the transmission path that
- the first redundant transmission path is the path indicated by the solid arrow.
- the first redundant transmission path consists of a first transmission path and a second transmission path.
- the first transmission path is the transmission path from the controller 10, through the first slave 20A, the second slave 20B, the first slave 20A, and back to the controller 10, that is, the second slave 20B. This is the route to turn around.
- the second transmission path is a transmission path that sequentially returns from the controller 10 to the controller 10 via the third slave 20C, that is, a path that loops back at the third slave 20C.
- connection order of the first slave 20A and the second slave 20B from the controller 10 on the first redundant transmission path has not been changed from the connection order on the main transmission path.
- connection order of the third slave 20C from the controller 10 on the first redundant transmission path is changed (here, from 3 to 1) from the connection order on the main transmission path.
- FIG. 7 shows the transmission/reception timing of the normal frame 50 in the controller 10 and each slave 20 and the synchronization timing calculator 24 of each slave 20 when the transmission path of the normal frame 50 is the first redundant transmission path.
- 4 is a timing chart showing an example of calculated operation timing of a synchronous timing signal XSYNC; In FIG. 7, the horizontal axis is time t.
- the synchronization timing calculation unit 24 calculates the "connection order on the transmission path" based on the node count value included in the disconnection node notification frame. As a result, the synchronization timing calculator 24 does not change the pulse timing T of the synchronization timing signal XSYNC even if the "connection order in the transmission path" is changed. In this manner, the synchronization timing calculator 24 selects a method for calculating the pulse timing T of the synchronization timing signal XSYNC so that the pulse timing T of the synchronization timing signal XSYNC is not changed even if the "connection order in the transmission path" is changed. Update.
- the pulse timing T of the synchronization timing signal XSYNC is not changed.
- the calculation of the "connection order in the transmission path" performed by the synchronization timing calculator 24 when the "connection order in the transmission path" is changed will be described later.
- the synchronization timing calculation unit 24 may be realized, for example, by executing a program stored in the memory 202 of the slave 20 by the processor 201 of the slave 20 .
- the cable disconnection abnormality refers not only to an abnormality in which the cable is disconnected, but also to an abnormality in which communication via the cable becomes impossible due to reasons such as disconnection of the cable from the connector.
- FIG. 8 is a schematic diagram showing how the cable 30C has a cable disconnection abnormality in which the cable 30C is disconnected.
- FIG. 9 is a sequence diagram of the first operation.
- the detection unit 25 of the third slave 20C detects an abnormality related to the connection of the fourth input/output port 22 (step S10A).
- the slave transmission control unit 23 of the third slave 20C changes the operation mode from the first slave operation mode. Switch to the second slave operation mode (step S20A).
- the slave transmission control unit 23 of the third slave 20C causes the third input/output port 21 and the fourth input/output port 22 to transmit a disconnection node notification frame indicating that a change in the connection state has been detected. try (step S30A).
- the slave transmission control unit 23 of the third slave 20C causes the MACID of the third slave 20C including the slave transmission control unit 23 to be included in the disconnected node notification frame to be attempted to be transmitted. Also, the slave transmission control unit 23 of the third slave 20C attempts to transmit a disconnection node notification frame including a node count value indicating 1 from the third input/output port 21, and from the fourth input/output port 22, Attempt to send a Broken Node Notification frame containing a node count value of zero.
- the normal frame transmission path is the main transmission path. Further, as will be described later, due to the occurrence of cable disconnection in the cable 30C, the normal frame transmission path is changed from the main transmission path to the first redundant transmission path. Therefore, in the third slave 20C, the connection order of the third slave 20C from the controller 10 in the normal frame transmission path is changed (here, changed from 3 to 1).
- the synchronization timing calculator 24 selects a method for calculating the pulse timing T of the synchronization timing signal XSYNC so that the pulse timing T of the synchronization timing signal XSYNC is not changed even if the "connection order in the transmission path" is changed.
- Update step S50.
- the detection unit 25 detects an abnormality related to the connection of the input/output port on the side that receives the normal frame
- the synchronization timing calculation unit 24 receives the normal frame from the next input/output port other than the input/output port.
- the calculation method for calculating the synchronous timing signal XSYNC is updated so that the synchronous timing at which all of the plurality of slaves 20 operate synchronously does not change when the port receives the signals.
- the phi 230 disconnects the link between the RX phi terminal 232 and the TX phi terminal 251 of the phi 250 of the third slave 20C to which it is connected. no longer detected. Therefore, in the second slave 20B, the detector 25 of the second slave 20B detects an abnormality related to the connection of the third input/output port 21 (step S10B).
- the slave transmission control unit 23 of the second slave 20B changes the operation mode from the first slave operation mode. Switch to the second slave operation mode (step S20B).
- the slave transmission control unit 23 of the second slave 20B attempts transmission of the disconnection node notification frame from the third input/output port 21 and the fourth input/output port 22 (step S30B).
- the slave transmission control unit 23 of the second slave 20B includes the MACID of the second slave 20B including the slave transmission control unit 23 in the disconnection node notification frame to be attempted to be transmitted. Further, the slave transmission control unit 23 of the second slave 20B tries to transmit a disconnection node notification frame including a node count value indicating 0 from the third input/output port 21, and from the fourth input/output port 22, Attempt to send a broken node notification frame containing a node count value of 1.
- the normal frame transmission path is the main transmission path. Further, as will be described later, due to the occurrence of cable disconnection in the cable 30C, the normal frame transmission path is changed from the main transmission path to the first redundant transmission path. Therefore, in the second slave 20B, the order of connection from the controller 10 to the third slave 20C on the normal frame transmission path is not changed. Therefore, the synchronization timing calculator 24 of the second slave 20B does not update the calculation method of the pulse timing T of the synchronization timing signal XSYNC.
- step S40B when the slave transmission control unit 23 of the second slave 20B transmits a disconnection node notification frame from the fourth input/output port 22, the third input/output port 21 of the first slave 20A , receives its broken node notification frame.
- step S40A when the slave transmission control unit 23 of the third slave 20C transmits a disconnection node notification frame (hereinafter also referred to as "first disconnection node notification frame") from the third input/output port 21, , the second input/output port 12 receives the first broken node notification frame.
- first disconnection node notification frame a disconnection node notification frame
- step S40C when the slave transmission control unit 23 of the first slave 20A transmits a disconnection node notification frame (hereinafter also referred to as "second disconnection node notification frame") from the fourth input/output port 22, , the first input/output port 11 receives the second broken node notification frame.
- a disconnection node notification frame hereinafter also referred to as "second disconnection node notification frame”
- the abnormality type determination unit 15 detects the first disconnection node Based on the MACID included in the notification frame (here, the MACID of the third slave 20C) and the MACID included in the second disconnection node notification frame (here, the MACID of the second slave 20B), the communication system 1 is determined to be cable disconnection (step S60).
- the abnormality type determination unit 15 determines that the MACIDs included in the disconnection node notification frames are When different, it is determined that the abnormality that occurred in the communication system 1 is the cable disconnection abnormality.
- the abnormality type determination unit 15 determines the MACID included in the first disconnection node notification frame (here, the MACID of the third slave 20C) and the MACID included in the second disconnection node notification frame (here, the MACID of the third slave 20C). 2 MACID of the slave 20B), it is determined that the position where the cable disconnection abnormality has occurred is between the third slave 20C and the second slave 20B (step S70).
- the abnormality type determination unit 15 determines that the MACIDs included in the disconnection node notification frames are At different times, it is determined that the location of the abnormality occurring in the communication system 1 is between the slaves 20 of those MACIDs.
- the controller transmission control unit 13 switches the operation mode from the first controller operation mode to the second controller operation mode (step S80).
- the operation mode of the controller transmission control unit 13 is changed from the first controller operation mode to the second controller operation mode. Further, the first operation performed by the communication system 1 changes the operation mode of the slave transmission control unit 23 of the third slave 20C from the first slave operation mode to the second slave operation mode. Further, the first operation performed by the communication system 1 changes the operation mode of the slave transmission control unit 23 of the second slave 20B from the first slave operation mode to the second slave operation mode. As a result, the normal frame transmission path is changed from the main communication path (see FIG. 4) to the first redundant transmission path (see FIG. 6).
- the communication system 1 does not use the cable 30 in which the cable disconnection abnormality has occurred as the transmission path when the cable disconnection abnormality occurs in the cable 30 when the normal frame transmission path is the main transmission path.
- the normal frame is transmitted to each slave 20 by changing to the transmission path.
- FIG. 10 is a schematic diagram showing a state in which the TX phi terminal 231 of the second slave 20B has a phi terminal abnormality that causes the TX phi terminal 231 to stop functioning.
- FIG. 11 is a sequence diagram of the second operation.
- the phi terminal abnormality in which the TX phi terminal does not function refers to an abnormality in which the TX phi terminal does not function due to, for example, a phi failure or a problem in the connection path of the TX phi terminal. .
- the detection unit 25 of the third slave 20C detects an abnormality related to the connection of the fourth input/output port 22 (step S110).
- the slave transmission control unit 23 of the third slave 20C changes the operation mode from the first slave operation mode. Switch to the second slave operation mode (step S120).
- the slave transmission control unit 23 of the third slave 20C attempts transmission of the disconnection node notification frame from the third input/output port 21 and the fourth input/output port 22 (step S130).
- the slave transmission control unit 23 of the third slave 20C causes the MACID of the third slave 20C including the slave transmission control unit 23 to be included in the disconnected node notification frame to be attempted to be transmitted. Also, the slave transmission control unit 23 of the third slave 20C attempts to transmit a disconnection node notification frame including a node count value indicating 1 from the third input/output port 21, and from the fourth input/output port 22, Attempt to send a Broken Node Notification frame containing a node count value of zero.
- the TX phi terminal 231 of the second slave 20B has a phi terminal abnormality that causes the TX phi terminal 231 of the second slave 20B to stop functioning.
- transmission of signals from the TX phi terminal 251 of the third slave 20C to the RX phi terminal 232 of the second slave 20B is possible. Therefore, the attempt to transmit the disconnection node notification frame from the fourth input/output port 22 succeeds. That is, the slave transmission control unit 23 of the third slave 20C transmits a disconnection node notification frame from the fourth input/output port 22 (step S140B).
- an attempt to transmit a disconnection node notification frame from the third input/output port 21 also succeeds. That is, the slave transmission control unit 23 of the third slave 20C transmits a disconnection node notification frame from the third input/output port 21 (step S140A).
- the normal frame transmission path is the main transmission path.
- the normal frame transmission path is interrupted.
- the transmission path is changed to the first redundant transmission path. Therefore, in the third slave 20C, the connection order of the third slave 20C from the controller 10 in the normal frame transmission path is changed (here, changed from 3 to 1).
- the synchronization timing calculator 24 updates the calculation method of the pulse timing T of the synchronization timing signal XSYNC so that the pulse timing T of the synchronization timing signal XSYNC is not changed even if the "connection order in the transmission path" is changed. (step S150).
- the detection unit 25 of the second slave 20B does not detect an abnormality related to the connection of the third input/output port 21.
- step S140B when the slave transmission control unit 23 of the third slave 20C transmits a disconnection node notification frame from the fourth input/output port 22, the third input/output port 21 of the second slave 20B , receives its broken node notification frame.
- step S160 since the slave transmission control unit 23 of the second slave 20B receives the disconnection node notification frame including the node count value indicating 0, the operation mode is changed from the first slave operation mode to the second slave operation mode. Switch (step S160).
- step S140C when the slave transmission control unit 23 of the second slave 20B transmits a disconnection node notification frame through the fourth input/output port 22, the third input/output port 21 of the first slave 20A , receives its broken node notification frame.
- step S140A when the slave transmission control unit 23 of the third slave 20C transmits a disconnection node notification frame (hereinafter also referred to as "third disconnection node notification frame") from the third input/output port 21, , the second input/output port 12 receives the third broken node notification frame.
- a disconnection node notification frame hereinafter also referred to as "third disconnection node notification frame”
- step S140D when the slave transmission control unit 23 of the first slave 20A transmits a disconnection node notification frame (hereinafter also referred to as "fourth disconnection node notification frame") from the fourth input/output port 22, , the first input/output port 11 receives the fourth disconnection node notification frame.
- a disconnection node notification frame hereinafter also referred to as "fourth disconnection node notification frame
- the abnormality type determination unit 15 detects the third disconnection node Based on the MACID included in the notification frame (here, the MACID of the third slave 20C) and the MACID included in the fourth disconnection node notification frame (here, the MACID of the third slave 20C), the communication system 1 is determined to be a phi terminal abnormality (step S170).
- the abnormality type determination unit 15 determines that the MACIDs included in the disconnection node notification frames are the same. Sometimes, it is determined that an abnormality that has occurred in the communication system 1 is a phi terminal abnormality.
- the abnormality position determination unit 14 is included in the third disconnection node notification frame and the fourth disconnection node notification frame. Based on the node count value, it is determined that the position where the phi terminal abnormality occurred is between the third slave 20C and the second slave 20B (step S180).
- the abnormal position determination unit 14 determines the node count value (here, 1) included in the third disconnection node notification frame and the node count value (here, 2) included in the fourth disconnection node notification frame. , the two slaves 20 that have transmitted the disconnection node notification frame including the node count value indicating 1 are identified (here, the third slave 20C and the second slave 20B are identified). Then, the abnormal position determining unit 14 determines that the phi terminal abnormal occurrence position is between the identified two slaves 20 (here, between the third slave 20C and the second slave 20B).
- the abnormal position determination unit 14 stores, for example, the order of connection of the slaves 20 in advance, and based on the stored order of connection of the slaves 20 and the node count value, the two disconnection note notification frames indicating the node count value indicating 1 are transmitted.
- the slave 20 may be identified.
- the controller transmission control unit 13 switches the operation mode from the first controller operation mode to the second controller operation mode (step S190).
- the operation mode of the controller transmission control section 13 is changed from the first controller operation mode to the second controller operation mode. Further, the second operation performed by the communication system 1 changes the operation mode of the slave transmission control unit 23 of the third slave 20C from the first slave operation mode to the second slave operation mode. Further, the second operation performed by the communication system 1 changes the operation mode of the slave transmission control unit 23 of the second slave 20B from the first slave operation mode to the second slave operation mode. As a result, the normal frame transmission path is changed from the main communication path (see FIG. 4) to the first redundant transmission path (see FIG. 6).
- the transmission path is changed to the fiber where the phi terminal failure has occurred. is changed to a transmission path that does not use the normal frame, and the normal frame is transmitted to each slave 20.
- FIG. 12 is a schematic diagram showing a state in which the RX phi terminal 252 of the second slave 20B has a phi terminal abnormality that causes the RX phi terminal 252 to stop functioning.
- FIG. 13 is a sequence diagram of the third operation.
- the phi terminal abnormality in which the RX phi terminal does not function refers to an abnormality in which the RX phi terminal does not function due to, for example, a phi failure or a problem in the connection path of the RX phi terminal. .
- the detector 25 of the second slave 20B detects an abnormality related to the connection of the fourth input/output port 22 (step S210).
- the slave transmission control unit 23 of the second slave 20B changes the operation mode from the first slave operation mode. Switch to the second slave operation mode (step S220).
- the slave transmission control unit 23 of the second slave 20B attempts transmission of the disconnection node notification frame from the third input/output port 21 and the fourth input/output port 22 (step S230).
- the slave transmission control unit 23 of the second slave 20B includes the MACID of the second slave 20B including the slave transmission control unit 23 in the disconnection node notification frame to be attempted to be transmitted. Also, the slave transmission control unit 23 of the second slave 20B attempts to transmit a disconnection node notification frame including a node count value indicating 1 from the third input/output port 21, and from the fourth input/output port 22, Attempt to send a Broken Node Notification frame containing a node count value of zero.
- a phi terminal abnormality has occurred in the RX phi terminal 252 of the second slave 20B, causing the RX phi terminal 252 of the second slave 20B to stop functioning.
- transmission of signals from the TX phi terminal 251 of the second slave 20B to the RX phi terminal 232 of the first slave 20A is possible. Therefore, the attempt to transmit the disconnection node notification frame from the fourth input/output port 22 succeeds. That is, the slave transmission control unit 23 of the second slave 20B transmits a disconnection node notification frame from the fourth input/output port 22 (step S240B).
- an attempt to transmit a disconnection node notification frame from the third input/output port 21 also succeeds. That is, the slave transmission control unit 23 of the second slave 20B transmits a disconnection node notification frame from the third input/output port 21 (step S240A).
- the normal frame transmission path is the main transmission path.
- the normal frame transmission route becomes the main one.
- the transmission path is changed to a second redundant transmission path (described later). Therefore, in the second slave 20B, the connection order from the controller 10 of the second slave 20B on the normal frame transmission path is changed.
- the change from 2 to 2 does not appear to be changed, but in this example, the connection order before the change and the connection order after the change just happen to be the same. It is nothing more than
- FIG. 14 is a schematic diagram showing the second redundant transmission path.
- the controller transmission control section 13 operates in the second controller operation mode
- the slave transmission control sections 23 of the first slave 20A and the second slave 20B operate in the second slave operation mode. This is the normal frame transmission path when the slave transmission control unit 23 of the third slave 20C operates in the first slave operation mode.
- the second redundant transmission path is the path indicated by the solid arrow.
- the second redundant transmission path consists of a first transmission path and a second transmission path.
- the first transmission path is the first transmission path from the controller 10 through the first slave 20A and back to the controller 10 in order, that is, the path that loops back at the first slave 20A.
- the second transmission path starts from the controller 10, passes through the third slave 20C, the second slave 20B, and the third slave 20C in this order, and then returns to the controller 10. That is, it loops back at the second slave 20B. route).
- the synchronization timing calculator 24 prevents the pulse timing T of the synchronization timing signal XSYNC from being changed even if the transmission path for normal frames is changed from the main transmission path to the second redundant transmission path.
- the synchronization timing calculator 24 selects a method for calculating the pulse timing T of the synchronization timing signal XSYNC so that the pulse timing T of the synchronization timing signal XSYNC is not changed even if the "connection order in the transmission path" is changed. Update (step S250).
- step S240A when the slave transmission control unit 23 of the second slave 20B transmits the disconnection node notification frame from the third input/output port 21, the fourth input/output port 22 of the third slave 20C , receives its broken node notification frame.
- the normal frame transmission path is replaced by the main transmission path. to the second redundant transmission path. Therefore, in the third slave 20C, the connection order of the third slave 20C from the controller 10 in the normal frame transmission path is changed (here, changed from 3 to 1).
- the synchronization timing calculation unit 24 is configured so that the pulse timing T of the synchronization timing signal XSYNC is not changed even if the normal frame transmission path is changed from the main transmission path to the second redundant transmission path.
- the synchronization timing calculator 24 selects a method for calculating the pulse timing T of the synchronization timing signal XSYNC so that the pulse timing T of the synchronization timing signal XSYNC is not changed even if the "connection order in the transmission path" is changed.
- Update step S270.
- the input/output port here, the fourth input/output port 22
- the synchronization timing calculation unit 24 receives the normal frame from the next time onward.
- the calculation method for calculating the synchronous timing signal XSYNC is updated so that the synchronous timing at which all of the plurality of slaves 20 operate synchronously does not change when an input/output port that is not an output port receives the signal.
- the detection unit 25 of the first slave 20A does not detect an abnormality related to the connection of the third input/output port 21.
- step S240B when the slave transmission control unit 23 of the second slave 20B transmits a disconnection node notification frame from the fourth input/output port 22, the third input/output port 21 of the first slave 20A , receives its broken node notification frame.
- step S260 since the slave transmission control unit 23 of the first slave 20A receives the disconnection node notification frame including the node count value indicating 0, the operation mode is changed from the first slave operation mode to the second slave operation mode. Switch (step S260).
- step S240C when the slave transmission control unit 23 of the third slave 20C transmits a disconnection node notification frame (hereinafter also referred to as "fifth disconnection node notification frame") from the third input/output port 21, , the second input/output port 12 receives the fifth broken node notification frame.
- a disconnection node notification frame hereinafter also referred to as "fifth disconnection node notification frame”
- step S240D when the slave transmission control unit 23 of the first slave 20A transmits a disconnection node notification frame (hereinafter also referred to as "sixth disconnection node notification frame") from the fourth input/output port 22, , the first input/output port 11 receives the sixth broken node notification frame.
- a disconnection node notification frame hereinafter also referred to as "sixth disconnection node notification frame
- the abnormality type determination unit 15 determines the fifth disconnection node notification frame. Based on the MACID included in the notification frame (here, the MACID of the second slave 20B) and the MACID included in the sixth disconnection node notification frame (here, the MACID of the second slave 20B), the communication system 1 is determined to be a phi terminal abnormality (step S280).
- the abnormality position determination unit 14 is included in the fifth disconnection node notification frame and the sixth disconnection node notification frame. Based on the node count value, it is determined that the position where the phi terminal abnormality occurred is between the second slave 20B and the first slave 20A (step S290).
- the abnormal position determination unit 14 determines the node count value (here, 2) included in the fifth disconnection node notification frame and the node count value (here, 1) included in the sixth disconnection node notification frame. , the two slaves 20 that have transmitted the disconnection node notification frame including the node count value indicating 1 are identified (here, the second slave 20B and the first slave 20A are identified). Then, the abnormal position determination unit 14 determines that the position where the Phi terminal abnormality has occurred is between the identified two slaves 20 (here, between the second slave 20B and the first slave 20A).
- the controller transmission control unit 13 switches the operation mode from the first controller operation mode to the second controller operation mode (step S300).
- the operation mode of the controller transmission control section 13 is changed from the first controller operation mode to the second controller operation mode. Further, the third operation performed by the communication system 1 changes the operation mode of the slave transmission control unit 23 of the second slave 20B from the first slave operation mode to the second slave operation mode. Further, the third operation performed by the communication system 1 changes the operation mode of the slave transmission control section 23 of the first slave 20A from the first slave operation mode to the second slave operation mode. As a result, the normal frame transmission path is changed from the main communication path (see FIG. 4) to the second redundant transmission path (see FIG. 14).
- the transmission path is replaced by the phi terminal failure. is changed to a transmission path that does not use the normal frame, and the normal frame is transmitted to each slave 20.
- the communication system 1 (hereinafter also referred to as "fourth operation") will be described.
- FIG. 15 is a schematic diagram showing how the cable disconnection abnormality of the cable 30C is recovered.
- FIG. 16 is a sequence diagram of the fourth operation.
- the detection unit 25 of the third slave 20C detects recovery from the abnormality related to the connection of the fourth input/output port 22 (step S310A).
- the slave transmission control unit 23 of the third slave 20C changes the operation mode to the second slave operation. mode to the first slave operation mode (step S320A).
- the slave transmission control unit 23 of the third slave 20C transmits a disconnection node notification frame from the third input/output port 21 and the fourth input/output port 22 (step S340A).
- the slave transmission control unit 23 of the third slave 20C includes the MACID of the third slave 20C including the slave transmission control unit 23 in the disconnected node notification frame to be transmitted.
- the normal frame transmission path is the first redundant transmission path.
- the normal frame transmission path is changed from the first redundant transmission path to the main transmission path due to recovery from the cable disconnection abnormality of the cable 30C. Therefore, in the third slave 20C, the connection order of the third slave 20C from the controller 10 in the normal frame transmission path is changed (here, changed from 1 to 3).
- the synchronization timing calculation unit 24 is configured so that the pulse timing T of the synchronization timing signal XSYNC is not changed even if the transmission path of the normal frame is changed from the first redundant transmission path to the main transmission path. Calculate the connection order in the transmission route. More specifically, the synchronization timing calculator 24 calculates the prestored connection order (here, 3) from the controller 10 on the main transmission path as the "connection order on the transmission path" in (Equation 1). .
- the synchronization timing calculator 24 selects a method for calculating the pulse timing T of the synchronization timing signal XSYNC so that the pulse timing T of the synchronization timing signal XSYNC is not changed even if the "connection order in the transmission path" is changed. Update (step S350).
- the phi 230 disconnects the link between the RX phi terminal 232 and the TX phi terminal 251 of the phi 250 of the third slave 20C to which it is connected. come to detect. Therefore, in the second slave 20B, the detection unit 25 of the second slave 20B detects recovery from the abnormality related to the connection of the third input/output port 21 (step S310B).
- the slave transmission control unit 23 of the second slave 20B changes the operation mode to the second slave operation. mode to the first slave operation mode (step S320B).
- the slave transmission control unit 23 of the second slave 20B transmits a disconnection node notification frame from the third input/output port 21 and the fourth input/output port 22 (step S340B).
- the slave transmission control unit 23 of the second slave 20B includes the MACID of the second slave 20B including the slave transmission control unit 23 in the disconnected node notification frame to be transmitted.
- the normal frame transmission path is the first redundant transmission path.
- the normal frame transmission path is changed from the first redundant transmission path to the main transmission path by recovering from the cable disconnection of the cable 30C. Therefore, in the second slave 20B, the order of connection from the controller 10 to the third slave 20C on the normal frame transmission path is not changed. Therefore, the synchronization timing calculator 24 of the second slave 20B does not update the calculation method of the pulse timing T of the synchronization timing signal XSYNC.
- step S340B when the slave transmission control unit 23 of the second slave 20B transmits a disconnection node notification frame from the fourth input/output port 22, the third input/output port 21 of the first slave 20A , receives its broken node notification frame.
- the slave transmission control unit 23 of the first slave 20A transmits the disconnection node notification frame from the fourth input/output port 22. Send (step S340C).
- the controller transmission control unit 13 sets the operation mode to the second controller operation mode to the first controller operation mode (step S360).
- the operation mode of the controller transmission control section 13 is changed from the second controller operation mode to the first controller operation mode. Further, the fourth operation performed by the communication system 1 changes the operation mode of the slave transmission control unit 23 of the third slave 20C from the second slave operation mode to the first slave operation mode. Further, the fourth operation performed by the communication system 1 changes the operation mode of the slave transmission control unit 23 of the second slave 20B from the second slave operation mode to the first slave operation mode. As a result, the normal frame transmission path is changed from the first redundant communication path (see FIG. 6) to the main transmission path (see FIG. 4).
- the normal frame transmission path is the first redundant transmission path due to the occurrence of the cable disconnection abnormality in the cable 30C
- the cable disconnection abnormality of the cable 30 is recovered.
- the transmission path is changed to the main transmission path to transmit normal frames to each slave 20 .
- 17 and 18 are flowcharts showing an example of the operation of the slave 20 when the communication frame transmission path is the main transmission path in the initial state of the communication system 1.
- FIG. 17 and 18 are flowcharts showing an example of the operation of the slave 20 when the communication frame transmission path is the main transmission path in the initial state of the communication system 1.
- step S500 No
- step S515 No
- step S515 the main transmission path upstream
- step S550 the process of transmitting the normal frame from the downstream side of the main transmission path
- step S500 When the slave 20 detects an abnormality related to the connection in the process of step S500 (step S500: Yes), it notifies the disconnected node from both the third input/output port 21 and the fourth input/output port 22.
- the frame is transmitted (step S505).
- step S510 If the detection of the abnormality in the connection is the detection of the abnormality in the connection of the input/output port on the upstream side of the main transmission path (step S510: Yes), the slave 20 adjusts the pulse timing T of the synchronization timing signal XSYNC. The calculation method is updated (step S530).
- step S515 When the slave 20 receives the broken node notification frame in the process of step S515 (step S515: Yes), it checks whether the node count value included in the received broken node notification frame is 0 (step S520).
- step S520 when the node count value is 0 (step S520: Yes), when the disconnection node notification frame is received by the input/output port on the upstream side of the main transmission path (step S525 : Yes), the slave 20 updates the calculation method of the pulse timing T of the synchronization timing signal XSYNC (step S530).
- step S520 if the node count value is not 0 (step S520: No), if the disconnection node notification frame is received by the input/output port on the upstream side of the main transmission path (step S535: Yes) , the slave 20 updates the calculation method of the pulse timing T of the synchronization timing signal XSYNC (step S540).
- step S510 if the detection of a connection abnormality is not the detection of a connection abnormality of the input/output port on the upstream side of the main transmission path (step S510: No), and in the process of step S525, disconnection When the node notification frame is not received by the input/output port on the upstream side of the main transmission path (step S525: No), and when the process of step S530 is completed, the slave 20 detects an abnormality related to the connection.
- step S605 No
- step S600 when a normal frame is received at the input/output port on the side that has not detected an abnormality related to connection (step S600), the side that has not detected an abnormality related to connection A process of transmitting a normal frame from the input/output port (step S625) is repeated.
- step S605 when the slave 20 detects that the connection abnormality has been recovered (step S605: Yes), both the third input/output port 21 and the fourth input/output port 22 are disconnected. A node notification frame is transmitted (step S610).
- step S615 If the detection of the recovery of the connection-related abnormality is the detection of the connection-related abnormality of the input/output port on the upstream side of the main transmission path (step S615: Yes), the slave 20 adjusts the pulse timing of the synchronization timing signal XSYNC.
- the method for calculating T is updated (step S620).
- step S535 when the reception of the disconnection node notification frame is not received by the input/output port on the upstream side of the main transmission path (step S535: No), and when the process of step S540 ends, the slave 20 As long as a normal frame is received (step S630) and a disconnection node notification frame is not received (step S635: No), the process of transmitting the normal frame from an input/output port different from that at the time of reception (step S650) is repeated. .
- step S635 when the broken node notification frame is received (step S635: Yes), when the broken node notification frame is received by the input/output port on the upstream side of the main transmission path (step S640 : Yes), the slave 20 updates the calculation method of the pulse timing T of the synchronization timing signal XSYNC (step S645).
- step S615 if the detection of the recovery of the connection-related abnormality is not the detection of the abnormality related to the connection of the input/output port on the upstream side of the main transmission path (step S615: No), and in the process of step S640 , when the disconnection node notification frame is not received by the input/output port on the upstream side of the main transmission path (step S640: No), when the process of step S620 ends, and when the process of step S645 ends In some cases, the slave 20 proceeds to the process of step S500.
- FIG. 19 is a flowchart showing an example of the operation of the controller 10 when the communication frame transmission path is the main transmission path in the initial state of the communication system 1.
- FIG. 19 is a flowchart showing an example of the operation of the controller 10 when the communication frame transmission path is the main transmission path in the initial state of the communication system 1.
- step S700 when the controller 10 transmits a normal frame from the input/output port on the upstream side of the seed transmission path (step S700), the first input/output port 11 and the second input/output port 12 As long as the disconnection node notification frame is not received at both input/output ports (step S705: No), the process of receiving normal frames at the input/output port on the downstream side of the main transmission path (step S760) is repeated.
- step S700 when the controller 10 receives the disconnection node notification frames at both input/output ports (step S705: Yes), it checks whether the MACIDs included in the two received disconnection node notification frames are different from each other. (Step S710).
- step S710 if the MACIDs included in the two received disconnection node notification frames are different from each other (step S710: Yes), the controller 10 determines that the abnormality that occurred in the communication system 1 is the cable disconnection abnormality. (Step S715). Based on these MACIDs, the controller 10 then determines that the location where the cable disconnection abnormality has occurred is between the slaves 20 of those MACIDs (step S720).
- step S710 if the MACIDs included in the two received disconnection node notification frames are not different from each other (step S710: No), the controller 10 determines that the abnormality that occurred in the communication system 1 is the phi terminal abnormality. (step S725). Then, based on the node count values contained in the two broken node notification frames, the controller 10 determines the position of the two slaves 20 that have transmitted the broken node notification frame including the node count value indicating 1 as the position where the phi abnormality has occurred. It is determined that it is between (step S730).
- step S720 When the process of step S720 ends and when the process of step S730 ends, the controller 10 receives normal frames from both the first input/output port 11 and the second input/output port 12. is transmitted (step S735), as long as the disconnection node notification frame is not received (step S740: No), the normal frame is repeatedly performed (step S750).
- step S740 when the disconnection node notification frame is received (step S740: Yes), the controller 10 detects that the abnormality that occurred in the communication system 1 has been recovered (step S755), and proceeds to the process of step S700.
- the detection unit 25 detects an abnormality related to the connection of the third input/output port 21 or the abnormality related to the connection of the fourth input/output port 22. Then, when an abnormality related to network connection is detected, the slave 20 transmits a disconnection node notification frame to the controller 10 . As a result, the normal frame transmission route in the communication system 1 is changed in a relatively short period of time after the occurrence of an abnormality related to network connection.
- the communication system 1 it is possible to shorten the time required from the occurrence of an abnormality related to network connection until the frame transmission route is changed, compared to the conventional system.
- Embodiment 2 A communication system according to Embodiment 2, which is configured by partially changing the communication system 1 according to Embodiment 1, will be described below.
- the communication system according to the second embodiment is configured by changing the controller 10 from the communication system 1 according to the first embodiment to the controller 10A according to the second embodiment.
- FIG. 20 is a block diagram showing an example of the functional configuration of the controller 10A according to the second embodiment.
- the controller 10A is configured by changing the controller transmission control section 13 from the controller 10 according to Embodiment 1 to a controller transmission control section 13A.
- the controller transmission control section 13A has the following functions in addition to the functions that the controller transmission control section 13 has.
- controller transmission control unit 13A is asked by the user of the communication system according to Embodiment 2 whether or not to stop normal frame transmission when two or more abnormalities occur in the communication system according to Embodiment 2. The setting of whether or not is accepted.
- the controller transmission control unit 13A receives a setting to stop transmission of normal frames when an abnormality occurs at two or more locations, the controller transmission control unit 13A, in the communication system according to Embodiment 2, When an abnormality occurs, the transmission of normal frames is stopped.
- the controller transmission control unit 13A may, for example, use an input interface (eg, touch pad, dip switch, etc.) provided in the controller 10A to receive a setting as to whether or not to stop transmission of normal frames.
- an input interface eg, touch pad, dip switch, etc.
- the controller transmission control unit 13A controls the first input/output port 11 and the second input/output port 12. and receive the broken node notification frames, and if the sum of the node count values contained in the broken node notification frames is less than the number of all the slaves 20 stored in advance, two or more abnormalities occur. It may be determined that
- a user who uses the communication system according to the second embodiment configured as described above may have a controller
- the transmission control unit 13A may be set to stop transmission of normal frames when two or more abnormalities occur.
- a user using the communication system according to the second embodiment instructs the controller transmission control unit 13A to stop normal frame transmission when two or more abnormalities occur in the communication system according to the second embodiment.
- the controller transmission control unit 13A By setting, for example, one of the plurality of slaves 20 included in the communication system according to the second embodiment can be replaced without stopping the operation of the other slaves 20 .
- FIG. 21 shows how a user using the communication system according to Embodiment 2 replaces one slave 20 (here, the third slave 20C) out of a plurality of slaves 20 with another slave 20 (here, the third slave 20C). , a first slave 20A, a second slave 20B, and a fourth slave 20D) without stopping.
- a user using the communication system according to the second embodiment removes the fourth input/output port 22 of the third slave 20C from the cable 30C and replaces it with the fourth input/output port 22 of the fifth slave 20E. 4 input/output ports 22 are connected. Also, the third input/output port 21 of the third slave 20C is removed from the cable 30E, and the third input/output port 21 of the fourth slave 20D is connected instead. By doing so, the third slave 20C can be replaced with the fifth slave 20E without stopping the operations of the first slave 20A, the second slave 20B, and the fourth slave 20D.
- a user using the communication system according to the second embodiment instructs the controller transmission control unit 13A to stop normal frame transmission when two or more abnormalities occur in the communication system according to the second embodiment.
- removal of one slave 20 out of the plurality of slaves 20 included in the communication system according to the second embodiment can be performed without stopping the operation of the other slaves 20 .
- FIG. 22 shows how a user using the communication system according to Embodiment 2 removes one slave 20 (here, the third slave 20C) from among a plurality of slaves 20, and removes another slave 20 (here, the third slave 20C). , a first slave 20A, a second slave 20B, and a fourth slave 20D) without stopping.
- a user using the communication system according to the second embodiment connects a cable 30E to the fourth input/output port 22 of the fourth slave 20D and the third input/output port of the third slave 20C. 21, remove the fourth input/output port 22 of the third slave 20C from the cable 30C, and connect the fourth input/output port 22 of the fourth slave 20D instead.
- the third slave 20C can be removed without stopping the operations of the first slave 20A, the second slave 20B, and the fourth slave 20D.
- FIG. 23 is a block diagram showing an example of the configuration of communication system 1 according to the third embodiment.
- the communication system 1 includes a controller 10 having a first input/output port 11 and a second input/output port 12, and a third input/output port 21 and a fourth input/output port 21, respectively. It comprises N slaves 20 with input/output ports 22 .
- N is an integer of 2 or more.
- FIG. 23 shows N slaves 20 as a first slave 20A, a K-1th slave 20 (K is an integer and 3 ⁇ K ⁇ N-1), a Kth slave 20, Nth slave 20 is shown.
- the first input/output port 11, the second input/output port 12, the third input/output port 21, and the fourth input/output port 22 are connected by a cable 30, as in the first embodiment. That is, the communication system 1 according to Embodiment 3 represents the case of the communication system 1 generalized to N slaves 20 .
- the communication system 1 according to the third embodiment can obtain the same effects as the communication system 1 according to the first embodiment.
- the present disclosure can be widely used in communication systems and the like that include a controller and multiple slaves.
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Abstract
Description
発明者らは、コントローラと複数のスレーブとがリング状に接続された通信システムにおいて、ネットワークの接続に係る異常が発生してから、フレームの送信経路が変更されるまでにかかる時間を、従来よりも短縮する方法について、鋭意、検討、実験を繰り返し行った。その結果、発明者らは、各スレーブが、ネットワークの接続に係る異常を検出し、検出した異常をコントローラに通知することで、コントローラは、ネットワークの接続に係る異常が発生してから、比較的短時間で、その異常の発生を確認することができるという知見を得た。そして、発明者らは、この知見に基づいて、さらに、検討、実験を重ねた。その結果、下記通信システム等に想到した。
コントローラから、順に、第1のスレーブ~接続に係る異常が発生している箇所の手前のスレーブ~第1のスレーブを経由して再びコントローラへ戻る経路(すなわち、接続に係る異常の手前のスレーブで折り返す経路)。
コントローラから、順に、第Nのスレーブ~接続に係る異常の手前のスレーブ~第Nのスレーブを経由して再びコントローラへ戻る経路(すなわち、接続に係る異常が発生している箇所の手前のスレーブで折り返す経路)。
(1)前記検出部が、前記第1の入出力ポートの接続に係る異常を検出したときに、前記一方の入出力ポートから、0を示すノードカウント値を含む断線ノード通知フレームの送信を試み、前記他方の入出力ポートから、1を示すノードカウント値を含む断線ノード通知フレームの送信を試みる。
(2)前記一方の入出力端子が、0を示すノードカウント値を含む断線ノード通知フレームを受信すると、動作モードを前記第1のスレーブ動作モードから前記第2のスレーブ動作モードに切り替える。前記一方の入出ポートが断線ノード通知フレームを受信すると、当該断線ノード通知フレームに含まれるノードカウント値に1を加えたノードカウント値を含む断線ノード通知フレームを、前記他方の入出力ポートから送信する。
[1-1.構成]
図1は、実施の形態1に係る通信システム1の構成の一例を示すブロック図である。
+(全てのスレーブ20の数-送信経路における接続順)×固定遅延値
…… (式1)
ここで、(式1)における「送信経路における接続順」は、同期タイミング算出部24があらかじめ記憶する、主送信経路におけるコントローラ10からの接続順番となる。
上記構成の通信システム1が行う動作について、以下、具体例を用いて説明する。
上記構成の通信システム1によると、いずれかのスレーブ20において、検出部25が、第3の入出力ポート21の接続に係る異常、または、第4の入出力ポート22の接続に係る異常を検出すると、すなわち、ネットワークの接続に係る異常を検出すると、そのスレーブ20から、コントローラ10に向けて、断線ノード通知フレームが送信される。これにより、ネットワークの接続に係る異常が発生してから、比較的短時間で、通信システム1における通常フレームの送信経路が変更される。
以下、実施の形態1に係る通信システム1の一部が変更されて構成される実施の形態2に係る通信システムについて説明する。
図23は、実施の形態3に係る通信システム1の構成の一例を示すブロック図である。
以上、本開示の一態様に係る通信システム等について、実施の形態1、実施の形態2に基づいて説明したが、本開示は、これら実施の形態に限定されるものではない。本開示の趣旨を逸脱しない限り、当業者が思いつく各種変形をこれら実施の形態に施したものや、異なる実施の形態における構成要素を組み合わせて構築される形態も、本開示の1つまたは複数の態様の範囲内に含まれてもよい。
10、10A コントローラ
11 第1の入出力ポート
12 第2の入出力ポート
13、13A コントローラ送信制御部
14 異常位置判定部
15 異常種類判定部
20 スレーブ
20A 第1のスレーブ
20B 第2のスレーブ
20C 第3のスレーブ
20D 第4のスレーブ
20E 第5のスレーブ
21 第3の入出力ポート
22 第4の入出力ポート
23 スレーブ送信制御部
24 同期タイミング算出部
25 検出部
30、30A、30B、30C、30D、30E ケーブル
50 通常フレーム
101、201 プロセッサ
102、202 メモリ
110、120、210、220 コネクタ
111、121、211、221 送信端子TX
112、122、212、222 受信端子RX
130、150、230、250 ファイ
131、151、231、251 TXファイ端子
132、152、232、252 RXファイ端子
Claims (14)
- 第1の入出力ポートと、第2の入出力ポートと、コントローラ送信制御部と、を有するコントローラと、各々が、第3の入出力ポートと第4の入出力ポートと、スレーブ送信制御部と、検出部と、を有する、第1のスレーブ~第Nのスレーブ(Nは2以上の整数)とを備え、
前記第1の入出力ポートと、前記第1のスレーブが有する前記第4の入出力ポートとが接続され、
前記第Nのスレーブが有する前記第3の入出力ポートと、前記第2の入出力ポートとが接続され、
任意のK(Kは2以上N以下の整数)において、第K-1のスレーブが有する前記第3の入出力ポートと、第Kのスレーブが有する前記第4の入出力ポートとが接続され、
前記コントローラ送信制御部は、通常フレームを生成して送信し、断線ノード通知フレームを受信し、第1のコントローラ動作モードと、第2のコントローラ動作モードと、を実行し、
前記第1のコントローラ動作モードは、前記通常フレームを、前記第1の入出力ポートから繰り返し送信し、
前記第2のコントローラ動作モードは、前記通常フレームを、前記第1の入出力ポートと前記第2の入出力ポートとから繰り返し送信し、
前記スレーブ送信制御部は、前記通常フレームを送信および受信し、前記断線ノード通知フレームを生成するとともに前記断線ノード通知フレームを送信および受信し、第1のスレーブ動作モードと、第2のスレーブ動作モードと、を実行し、
前記第1のスレーブ動作モードは、前記第3の入出力ポートと前記第4の入出力ポートとのうちの一方の入出力ポートが前記通常フレームを受信すると、前記第3の入出力ポートと前記第4の入出力ポートとのうちの他方の入出力ポートから前記通常フレームを送信し、
前記第2のスレーブ動作モードは、前記一方の入出力ポートが前記通常フレームを受信すると、前記一方の入出力ポートから前記通常フレームを送信し、
前記検出部は、前記第3の入出力ポートの接続に係る異常、および、前記第4の入出力ポートの接続に係る異常を検出し、
前記スレーブ送信制御部は、さらに前記第1のスレーブ動作モードで動作している場合に、前記検出部が、前記第3の入出力ポートの接続に係る異常、または、前記第4の入出力ポートの接続に係る異常を検出したとき、
前記第1のスレーブ動作モードから前記第2のスレーブ動作モードに切り替えると共に、接続状態の変化を検出した旨を示す前記断線ノード通知フレームを生成し、前記第3の入出力ポートと前記第4の入出力ポートとから、前記断線ノード通知フレームの送信を試み、
前記断線ノード通知フレームを前記一方の入出ポートが受信すると、前記他方の入出力ポートから前記断線ノード通知フレームを送信し、
前記コントローラ送信制御部は、さらに
前記第1のコントローラ動作モードで動作している場合に、前記第1の入出力ポートまたは前記第2の入出力ポートが前記断線ノード通知フレームを受信すると、前記第1のコントローラ動作モードから前記第2のコントローラ動作モードに切り替える、
通信システム。 - 前記断線ノード通知フレームは、0以上の整数値を示すノードカウント値を含み、
前記スレーブ送信制御部は、前記第1のスレーブ動作モードで動作している場合に、
(1)前記検出部が、前記一方の入出力ポートの接続に係る異常を検出したときに、前記一方の入出力ポートから、0を示すノードカウント値を含む前記断線ノード通知フレームの送信を試み、前記他方の入出力ポートから、1を示すノードカウント値を含む前記断線ノード通知フレームの送信を試み、
(2)前記一方の入出力ポートが、0を示すノードカウント値を含む前記断線ノード通知フレームを受信すると、前記第1のスレーブ動作モードから前記第2のスレーブ動作モードに切り替え、
前記一方の入出ポートが前記断線ノード通知フレームを受信すると、前記断線ノード通知フレームに含まれるノードカウント値に1を加えたノードカウント値を含む前記断線ノード通知フレームを、前記他方の入出力ポートから送信し、
前記コントローラは、前記第1の入出力ポートおよび前記第2の入出力ポートが前記断線ノード通知フレームを受信した場合に、前記第1の入出力ポートが受信した前記断線ノード通知フレームに含まれるノードカウント値と、前記第2の入出力ポートが受信した前記断線ノード通知フレームに含まれるノードカウント値とに基づいて、異常の発生位置を特定する異常位置判定部をさらに有する、
請求項1に記載の通信システム。 - 前記第1のスレーブ~前記第Nのスレーブの各々は、前記第3の入出力ポートまたは前記第4の入出力ポートが通常フレームを受信するタイミングに基づいて、前記第1のスレーブ~前記第Nのスレーブが同期して動作する同期タイミングを示す同期タイミング信号を算出する同期タイミング算出部をさらに有し、
前記同期タイミング算出部は、前記通常フレームを受信する側の入出力ポートで前記断線ノード通知フレームを受信した場合、および、前記検出部が、前記通常フレームを受信する側の入出力ポートの接続に係る異常を検出した場合に、前記通常フレームを、当該入出力ポートではない入出力ポートが受信するときに、前記同期タイミングが変わらないように、前記同期タイミング信号を算出する算出方法を更新する、
請求項2に記載の通信システム。 - 前記スレーブ送信制御部は、前記第1のスレーブ動作モードで動作している場合において、前記検出部が、前記第3の入出力ポートの接続に係る異常、または、前記第4の入出力ポートの接続に係る異常を検出したときに送信を試みる前記断線ノード通知フレームに、前記スレーブ送信制御部を含むスレーブのMACIDを含ませ、
前記コントローラは、前記第1の入出力ポートおよび前記第2の入出力ポートが前記断線ノード通知フレームを受信した場合に、前記第1の入出力ポートが受信した前記断線ノード通知フレームに含まれるMACIDと、前記第2の入出力ポートが受信した前記断線ノード通知フレームに含まれるMACIDとに基づいて、異常の種類に係る判定を行う異常種類判定部をさらに有する、
請求項1から請求項3のいずれか一項に記載の通信システム。 - 前記検出部は、さらに、前記第3の入出力ポートの接続に係る異常の回復、および、前記第4の入出力ポートの接続に係る異常の回復を検出し、
前記スレーブ送信制御部は、
前記第2のスレーブ動作モードで動作している場合に、前記検出部が、前記第3の入出力ポートの接続に係る異常の回復、または、前記第4の入出力ポートの接続に係る異常の回復を検出したときに、動作モードを前記第2のスレーブ動作モードから前記第1のスレーブ動作モードに切り替えると共に、前記第3の入出力ポートと前記第4の入出力ポートとから前記断線ノート通知フレームを送信し、
前記コントローラ送信制御部は、前記第2のコントローラ動作モードで動作している場合において、前記第1の入出力ポートまたは前記第2の入出力ポートが前記断線ノード通知フレームを受信すると、前記第2のコントローラ動作モードから前記第1のコントローラ動作モードに切り替える
請求項1から請求項4のいずれか一項に記載の通信システム。 - 第1の入出力ポートと、
第2の入出力ポートと、
スレーブ送信制御部と、
検出部と、を備え、
前記スレーブ送信制御部は、通常フレームを送信および受信し、断線ノード通知フレームを生成するとともに前記断線ノード通知フレームを送信および受信し、第1のスレーブ動作モードと、第2のスレーブ動作モードと、を実行し、
前記第1のスレーブ動作モードは、前記通常フレームを、前記第1の入出力ポートと前記第2の入出力ポートとのうちの一方の入出力ポートが受信すると、前記通常フレームを、前記第1の入出力ポートと前記第2の入出力ポートとのうちの他方の入出力ポートから送信し、
前記第2のスレーブ動作モードは、前記通常フレームを、前記一方の入出力ポートが受信すると、前記通常フレームを、前記一方の入出力ポートから送信し、
前記検出部は、前記第1の入出力ポートの接続に係る異常、および、前記第1の入出力ポートの接続に係る異常を検出し、
前記スレーブ送信制御部は、さらに前記第1のスレーブ動作モードで動作している場合に、前記検出部が、前記第1の入出力ポートの接続に係る異常、または、前記第2の入出力ポートの接続に係る異常を検出したとき、
前記第1のスレーブ動作モードから前記第2のスレーブ動作モードに切り替えると共に、接続状態の変化を検出した旨を示す前記断線ノード通知フレームを生成し、前記第1の入出力ポートと前記第2の入出力ポートとから前記断線ノード通知フレームの送信を試み、
前記断線ノード通知フレームを前記一方の入出ポートが受信すると、前記断線ノード通知フレームを、前記他方の入出力ポートから送信する、
スレーブ。 - 前記断線ノード通知フレームは、0以上の整数値を示すノードカウント値を含み、
前記スレーブ送信制御部は、前記第1のスレーブ動作モードで動作している場合に、
(1)前記検出部が、前記第1の入出力ポートの接続に係る異常を検出したときに、前記一方の入出力ポートから、0を示すノードカウント値を含む前記断線ノード通知フレームの送信を試み、前記他方の入出力ポートから、1を示すノードカウント値を含む前記断線ノード通知フレームの送信を試み、
(2)前記一方の入出力端子が、0を示すノードカウント値を含む前記断線ノード通知フレームを受信すると、動作モードを前記第1のスレーブ動作モードから前記第2のスレーブ動作モードに切り替え、
前記一方の入出ポートが前記断線ノード通知フレームを受信すると、前記断線ノード通知フレームに含まれるノードカウント値に1を加えたノードカウント値を含む断線ノード通知フレームを、前記他方の入出力ポートから送信する、
請求項6に記載のスレーブ。 - 前記第1の入出力ポートまたは前記第2の入出力ポートが通常フレームを受信するタイミングに基づいて、同期タイミングを示す同期タイミング信号を算出する同期タイミング算出部をさらに有し、
前記同期タイミング算出部は、通常フレームを受信する側の入出力ポートで前記断線ノード通知フレームを受信した場合、および、前記検出部が、前記通常フレームを受信する側の入出力ポートの接続に係る異常を検出した場合に、前記通常フレームを、前記入出力ポートではない入出力ポートが受信するときに、前記同期タイミングが変わらないように、前記同期タイミング信号を算出する算出方法を更新する、
請求項7に記載のスレーブ。 - 前記スレーブ送信制御部は、前記第1のスレーブ動作モードで動作している場合に、
前記検出部が、前記第1の入出力ポートの接続に係る異常、または、前記第2の入出力ポートの接続に係る異常を検出したときに、
送信を試みる前記断線ノード通知フレームに、前記スレーブ送信制御部を含むスレーブのMACIDを含ませる、
請求項6から請求項8のいずれか一項に記載のスレーブ。 - 前記検出部は、さらに、前記第1の入出力ポートの接続に係る異常の回復、および、前記第2の入出力ポートの接続に係る異常の回復を検出し、
前記スレーブ送信制御部は、
前記第2のスレーブ動作モードで動作している場合に、
前記検出部が、前記第1の入出力ポートの接続に係る異常の回復、または、前記第2の入出力ポートの接続に係る異常の回復を検出したときに、
前記第2のスレーブ動作モードから前記第1のスレーブ動作モードに切り替えると共に、前記第1の入出力ポートと前記第2の入出力ポートとから前記断線ノード通知フレームを送信する
請求項6から請求項9のいずれか一項に記載のスレーブ。 - 第1の入出力ポートと、
第2の入出力ポートと、
コントローラ送信制御部と、を備え、
前記コントローラ送信制御部は、通常フレームを生成して送信し、断線ノード通知フレームを受信し、第1のコントローラ動作モードと、第2のコントローラ動作モードと、を実行し、
前記第1のコントローラ動作モードにおいて、前記通常フレームを、前記第1の入出力ポートから繰り返し送信し、
前記第2のコントローラ動作モードにおいて、前記通常フレームを、前記第1の入出力ポートと前記第2の入出力ポートとから繰り返し送信し、
前記第1のコントローラ動作モードで動作している場合に、前記第1の入出力ポートまたは前記第2の入出力ポートが、接続状態の変化を検出した旨を示す断線ノード通知フレームを受信すると、前記第1のコントローラ動作モードから前記第2のコントローラ動作モードに切り替える、
コントローラ。 - 前記断線ノード通知フレームには、MACIDが含まれ、
前記第1の入出力ポートおよび前記第2の入出力ポートが前記断線ノード通知フレームを受信した場合に、前記第1の入出力ポートが受信した前記断線ノード通知フレームに含まれるMACIDと、前記第2の入出力ポートが受信した前記断線ノード通知フレームに含まれるMACIDとに基づいて、異常の種類に係る判定を行う異常種類判定部をさらに有する、
請求項11に記載のコントローラ。 - 前記第2のコントローラ動作モードで動作している場合において、前記第1の入出力ポートまたは前記第2の入出力ポートが、断線ノード通知フレームを受信すると、動作モードを前記第2のコントローラ動作モードから前記第1のコントローラ動作モードに切り替える、
請求項11または請求項12に記載のコントローラ。 - 第1の入出力ポートと第2の入出力ポートとコントローラ送信制御部とを有するコントローラと、第3の入出力ポートと第4の入出力ポートとスレーブ送信制御部と検出部とを有する、第1のスレーブ~第Nのスレーブ(Nは2以上の整数)とを備え、
前記第1の入出力ポートと、前記第1のスレーブにおける前記第4の入出力ポートとが接続され、前記第Nのスレーブにおける前記第3の入出力ポートと、前記第2の入出力ポートとが接続され、任意のK(Kは2以上N以下の整数)において、第K-1のスレーブにおける前記第3の入出力ポートと、第Kのスレーブにおける前記第4の入出力ポートとが接続される、通信システムが行う通信方法であって、
前記コントローラ送信制御部において、通常フレームが生成されて送信され、断線ノード通知フレームが受信され、第1のコントローラ動作モードと第2のコントローラ動作モードが実行され、
前記第1のコントローラ動作モードにおいて、前記通常フレームを、前記第1の入出力ポートから繰り返し送信し、
前記第2のコントローラ動作モードにおいて、前記通常フレームを、前記第1の入出力ポートと前記第2の入出力ポートとから繰り返し送信し、
前記第1のスレーブ~前記第Nのスレーブの各々において、
前記スレーブ送信制御部が、
前記第1のスレーブ動作モードにおいて、前記通常フレームを、前記第3の入出力ポートと前記第4の入出力ポートとのうちの一方の入出力ポートが受信すると、前記第3の入出力ポートと前記第4の入出力ポートとのうちの他方の入出力ポートから前記通常フレームを送信し、
前記第2のスレーブ動作モードにおいて、前記通常フレームを、前記一方の入出力ポートが受信すると、前記一方の入出力ポートから前記通常フレームを送信し、
前記検出部が、前記第3の入出力ポートの接続に係る異常、および、前記第4の入出力ポートの接続に係る異常を検出し、
前記スレーブ送信制御部が、さらに前記第1のスレーブ動作モードで動作している場合に、前記検出部が、前記第3の入出力ポートの接続に係る異常、または、前記第4の入出力ポートの接続に係る異常を検出したときに、
前記第1のスレーブ動作モードから前記第2のスレーブ動作モードに切り替えると共に、接続状態の変化を検出した旨を示す前記断線ノード通知フレームを生成し、前記第3の入出力ポートと前記第4の入出力ポートとから、前記断線ノード通知フレームの送信を試み、
前記断線ノード通知フレームを前記一方の入出ポートが受信すると、前記他方の入出力ポートから前記断線ノード通知フレームを送信し、
前記コントローラ送信制御部が、前記第1のコントローラ動作モードで動作している場合において、前記第1の入出力ポートまたは前記第2の入出力ポートが前記断線ノード通知フレームを受信すると、前記第1のコントローラ動作モードから前記第2のコントローラ動作モードに切り替える、
通信方法。
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JPH05268236A (ja) * | 1992-03-19 | 1993-10-15 | Matsushita Electric Ind Co Ltd | 2重ループ型通信装置の伝送路制御方式 |
JP2005333505A (ja) * | 2004-05-21 | 2005-12-02 | Mitsubishi Electric Corp | 二重ループ型ネットワークシステム |
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CN102461085B (zh) | 2009-06-12 | 2014-10-29 | 三菱电机株式会社 | 通信管理装置、通信节点以及数据通信方法 |
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- 2021-12-20 US US18/263,897 patent/US20240106735A1/en active Pending
- 2021-12-20 EP EP21926793.7A patent/EP4297363A1/en active Pending
- 2021-12-20 JP JP2023500580A patent/JPWO2022176370A1/ja active Pending
- 2021-12-20 CN CN202180093735.1A patent/CN116888938A/zh active Pending
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Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
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JPH05268236A (ja) * | 1992-03-19 | 1993-10-15 | Matsushita Electric Ind Co Ltd | 2重ループ型通信装置の伝送路制御方式 |
JP2005333505A (ja) * | 2004-05-21 | 2005-12-02 | Mitsubishi Electric Corp | 二重ループ型ネットワークシステム |
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JPWO2022176370A1 (ja) | 2022-08-25 |
KR20230146598A (ko) | 2023-10-19 |
EP4297363A1 (en) | 2023-12-27 |
US20240106735A1 (en) | 2024-03-28 |
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