WO2024014047A1 - Système de commande, dispositif de commande et procédé de communication - Google Patents

Système de commande, dispositif de commande et procédé de communication Download PDF

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Publication number
WO2024014047A1
WO2024014047A1 PCT/JP2023/008837 JP2023008837W WO2024014047A1 WO 2024014047 A1 WO2024014047 A1 WO 2024014047A1 JP 2023008837 W JP2023008837 W JP 2023008837W WO 2024014047 A1 WO2024014047 A1 WO 2024014047A1
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data
setting
indicated
match
network
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PCT/JP2023/008837
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English (en)
Japanese (ja)
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貴雅 植田
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オムロン株式会社
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Publication of WO2024014047A1 publication Critical patent/WO2024014047A1/fr

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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]
    • H04L12/46—Interconnection of networks

Definitions

  • the present invention relates to a control system, a control device, and a communication method.
  • Patent Document 1 proposes a method for more appropriately updating data between devices in a configuration including multiple communication lines. Disclose possible configurations.
  • a relay unit that is a gateway in charge of data transfer between networks is used. Data exchange between control devices is realized through such a gateway.
  • the present invention provides a mechanism for easing restrictions on design and development in a control system in which a plurality of control devices are network-connected.
  • a control system includes a first control device and a second control device connected via a network.
  • the second control device includes a calculation unit that performs control calculations and a relay unit that has an interface for connecting to a network.
  • the relay unit is configured to perform data exchange, including transmitting data managed by the computing unit over the network and updating data managed by the computing unit with data received over the network, according to the exchange settings. has been done.
  • the exchange settings include a first setting that indicates data to be sent among data managed by the processing unit, a second setting indicating data to be sent via the network, and a second setting indicating data to be updated among data managed by the processing unit. and a fourth setting that indicates data received via the network.
  • the relay unit determines whether the data sizes of the data indicated by the first setting and the data indicated by the second setting match, and the data indicated by the third setting and the data indicated by the fourth setting. In a predetermined first state, the data size between the data indicated by the first setting and the data indicated by the second setting is determined. Even if the sizes do not match and/or even if the data sizes do not match between the data indicated by the third setting and the data indicated by the fourth setting, data exchange according to the exchange setting is executed.
  • the structure of data transmitted and received by the first control device is uncertain. and/or in the process of designing and developing the second control device and the program to be executed by the second control device, and the structure of the data sent and received by the processing unit is uncertain. In some cases, it is possible to avoid a phenomenon in which the entire control system stops operating due to a change in the data configuration. Thereby, the design and development of the first control device and the second control device can be performed independently.
  • the relay unit In the first state, the relay unit periodically updates the data indicated by the first setting and the data indicated by the third setting, and updates the data indicated by the second setting and the data indicated by the fourth setting. Periodic updates may be performed repeatedly. According to this configuration, data exchange between the first control device and the second control device and data exchange within the second control device can be continued even if the exchange settings do not completely match. , it is possible to avoid a situation where a change in either one of the first control device and the second control device affects the other.
  • the relay unit may continue updating data with the first control device and updating data with the arithmetic unit even if there is no exchange setting. According to this configuration, data updates between the first control device and the relay unit and data updates between the arithmetic unit and the relay unit can be continued without depending on the exchange setting.
  • the relay unit determines whether the data indicated by the first setting and the data indicated by the second setting match, and the data indicated by the third setting and the data indicated by the fourth setting match.
  • the data exchange may be performed for the data that is currently being used. According to this configuration, even if the data sizes do not completely match, data can be exchanged to the extent possible.
  • the relay unit may generate dummy data based on the exchange settings so that data of a predetermined data size is exchanged.
  • the data size to be exchanged can be fixed to a predetermined size, so that processing related to data exchange can be simplified and speeded up.
  • the control system may provide a user interface for creating exchange settings in response to user operations. According to this configuration, the user can easily create exchange settings via the user interface.
  • a second state different from the first state if the data size does not match between the data indicated by the first setting and the data indicated by the second setting, and/or the relay unit If the data size does not match between the data indicated by the setting and the data indicated by the fourth setting, data exchange according to the exchange setting may be stopped or invalidated. According to this configuration, exact data exchange can be achieved when the configuration of data transmitted and received by the first control device is determined and/or when the configuration of data transmitted and received by the arithmetic unit is determined. .
  • the first state and the second state may be determined depending on the mode set by the user. According to this configuration, the first state and the second state can be changed as appropriate depending on the situation.
  • a control device is provided that is connected to other control devices via a network.
  • the control device includes a calculation unit that performs control calculations and a relay unit that has an interface for connecting to a network.
  • the relay unit is configured to perform data exchange, including transmitting data managed by the computing unit over the network and updating data managed by the computing unit with data received over the network, according to the exchange settings. has been done.
  • the exchange settings include a first setting that indicates data to be sent among data managed by the processing unit, a second setting indicating data to be sent via the network, and a second setting indicating data to be updated among data managed by the processing unit. and a fourth setting that indicates data received via the network.
  • the relay unit determines whether the data sizes of the data indicated by the first setting and the data indicated by the second setting match, and the data indicated by the third setting and the data indicated by the fourth setting. In a predetermined first state, the data size between the data indicated by the first setting and the data indicated by the second setting is determined. Even if the sizes do not match and/or even if the data sizes do not match between the data indicated by the third setting and the data indicated by the fourth setting, data exchange according to the exchange setting is executed.
  • a communication method in a control system including a first control device and a second control device connected via a network.
  • the second control device includes a calculation unit that performs control calculations and a relay unit that has an interface for connecting to a network.
  • the communication method is such that the relay unit executes data exchange, including sending data managed by the computing unit via the network and updating data managed by the computing unit with data received via the network, according to the exchange settings.
  • the exchange settings include a first setting that indicates data to be sent among data managed by the processing unit, a second setting indicating data to be sent via the network, and a second setting indicating data to be updated among data managed by the processing unit. and a fourth setting that indicates data received via the network.
  • the communication method depends on whether or not the data sizes match between the data indicated by the first setting and the data indicated by the second setting, and whether the data indicated by the third setting and the data indicated by the fourth setting match. a step of determining at least one of whether the data sizes match between the two; and determining whether the data sizes match between the data indicated by the first setting and the data indicated by the second setting in a predetermined first state. Even if the data sizes do not match, and/or the data sizes do not match between the data indicated by the third setting and the data indicated by the fourth setting, the relay unit transfers the data according to the exchange setting. and performing the exchange.
  • FIG. 2 is a schematic diagram showing an example of application of the control system according to the present embodiment.
  • FIG. 1 is a schematic diagram showing an example of the overall configuration of a control system according to the present embodiment.
  • FIG. 2 is a block diagram showing an example of a hardware configuration of an arithmetic unit of the main control device according to the present embodiment.
  • FIG. 2 is a block diagram showing an example of a hardware configuration of an arithmetic unit of a sub-control device according to the present embodiment.
  • FIG. 3 is a block diagram showing an example of the hardware configuration of a relay unit of the sub-control device according to the present embodiment. An example of the data structure of a frame cyclically transmitted through the field network of the control system according to the present embodiment is shown.
  • FIG. 1 is a schematic diagram showing an example of the overall configuration of a control system according to the present embodiment.
  • FIG. 2 is a block diagram showing an example of a hardware configuration of an arithmetic unit of the main control device according to the present
  • FIG. 3 is a diagram for explaining data transfer by the sub-control device of the control system according to the present embodiment.
  • FIG. 3 is a diagram for explaining data transfer by a relay unit of the control system according to the present embodiment.
  • FIG. 3 is a diagram illustrating an example in which data sizes set in relay units of the control system according to the present embodiment do not match.
  • FIG. 6 is a diagram illustrating an example of processing when data sizes set in relay units of the control system according to the present embodiment do not match.
  • FIG. 3 is a diagram for explaining an example of processing in a relay unit of the control system according to the present embodiment.
  • FIG. 6 is a diagram for explaining an example of operation when data updating is stopped in the control system according to the present embodiment.
  • FIG. 3 is a flowchart illustrating an example of a processing procedure for I/O data transmission by cyclic communication of a relay unit according to the present embodiment.
  • FIG. 3 is a schematic diagram showing an example of a user interface for creating relay unit replacement settings in the control system according to the present embodiment.
  • FIG. 1 is a schematic diagram showing an application example of a control system 1 according to the present embodiment.
  • a control system 1 includes a main control device 10 (first control device) and one or more sub-control devices 20 (first control device) connected via a network (see field network 4 in FIG. 2, etc.). 2 control devices).
  • main controller and “sub controller” are used for convenience of explanation, and they may have substantially the same hardware configuration or have substantially the same functions. It may be a configuration.
  • the main control device and the sub-control device may be a type of computer such as a PLC (programmable logic controller).
  • the sub-control device 20 includes a calculation unit 200 that performs control calculations, and a relay unit 250 that has an interface (such as the field network interface 270 in FIG. 5) for connecting to a network.
  • a calculation unit 200 that performs control calculations
  • a relay unit 250 that has an interface (such as the field network interface 270 in FIG. 5) for connecting to a network.
  • the relay unit 250 is a gateway for mutually transferring data between the sub-control device 20 (computation unit 200) and the main control device 10. More specifically, it includes transmitting the process data 70 managed by the computing unit 200 via the network according to the exchange settings 268 and updating the process data managed by the computing unit 200 with data received via the network. Perform data transfer.
  • the relay unit 250 holds transmission data 50 and reception data 60 that are exchanged via the network, and also holds input data 90 and output data 80 that are exchanged with the calculation unit 200.
  • Entry includes information for specifying each data to be included in transmission data 50, reception data 60, output data 80, and input data 90.
  • the exchange settings 268 include settings for each data entry shown in FIG. More specifically, the exchange settings 268 include a first setting (an entry included in the output data 80) indicating data to be transmitted (output data 80) among the process data 70 managed by the calculation unit 200, and a network. A second setting (an entry included in the transmission data 50) indicating the data to be transmitted (transmission data 50) via the second setting (an entry included in the transmission data 50) and data to be updated (input data 90) among the process data 70 managed by the calculation unit 200. It includes a third setting (an entry included in the input data 90) and a fourth setting (an entry included in the received data 60) indicating data to be received via the network (received data 60).
  • Data transfer includes data update 42 (transmission of transmission data 50 and update of reception data 60) between main controller 10 and relay unit 250, and data update 44 (output updating data 80 and transmitting input data 90); and data exchange 46 in relay unit 250 (updating transmitted data 50 with output data 80 and updating input data 90 with received data 60).
  • the relay unit 250 determines whether the data sizes match between the entry included in the output data 80 (data indicated by the first setting) and the entry included in the transmission data 50 (data indicated by the second setting). , and whether the data sizes match between the entry included in the input data 90 (data indicated by the third setting) and the entry included in the received data 60 (data indicated by the fourth setting). Judge at least one of them.
  • the data transfer includes a data update 42 between the main control device 10 and the relay unit 250, and a data update 44 between the arithmetic unit 200 and the relay unit 250.
  • Data exchange 46 in relay unit 250 is performed to the extent that data exchange is possible.
  • data transfer may be executed even if the data sizes do not match, and in another second state, if the data sizes do not match, Data transfer may be stopped or disabled. That is, whether or not to stop or invalidate data transfer when the data sizes do not match may be changed depending on the mode or the like.
  • FIG. 2 is a schematic diagram showing an example of the overall configuration of the control system 1 according to the present embodiment.
  • control system 1 according to the present embodiment includes main control device 10 and one or more sub-control devices 20.
  • Field network 4 supports cyclic communication and message communication. Examples of the field network 4 include EtherCAT (registered trademark), EtherNet/IP (registered trademark), PROFINET (registered trademark), PROFIBUS (registered trademark), DeviceNet (registered trademark), FL-net, CompoNet (registered trademark), etc. may also be used.
  • the main control device 10 includes a calculation unit 100 that executes control calculations.
  • the arithmetic unit 100 is capable of data communication via the field network 4.
  • the main controller 10 may further include a power supply unit, an I/O unit, a special unit, and the like.
  • the sub-control device 20 includes a calculation unit 200 that executes control calculations and a relay unit 250 that has an interface for connecting to the field network 4.
  • the sub-control device 20 may further include a power supply unit, an I/O unit, a special unit, and the like.
  • the arithmetic unit 200 and the relay unit 250 are connected via an internal bus 6 (see FIGS. 4 and 5). Note that if the sub-control device 20 includes an I/O unit and/or a special unit, the units are also connected via the internal bus 6.
  • the relay unit 250 transfers the data transmitted from the main control device 10 so that the calculation unit 200 can refer to it, and also transfers the data output by the calculation unit 200 so that the main control device 10 can refer to it.
  • the control system 1 may include a support device 300 for creating and changing programs, settings, etc. executed by the main control device 10 and/or the sub-control device 20.
  • the support device 300 may be connected to the calculation unit 200 of the sub-control device 20 or the calculation unit 100 of the main control device 10.
  • FIG. 3 is a block diagram showing an example of the hardware configuration of the arithmetic unit 100 of the main control device 10 according to the present embodiment.
  • the arithmetic unit 100 includes a processor 102 such as a CPU (Central Processing Unit) or an MPU (Micro-Processing Unit), a chipset 104, a memory 106, a storage 108, and an upper network interface 110. , a USB (Universal Serial Bus) interface 112, a memory card interface 114, and a field network interface 120.
  • the processor 102 reads various programs stored in the storage 108, expands them to the memory 106, and executes them, thereby realizing necessary processing in the arithmetic unit 100.
  • the chipset 104 controls data communication between the processor 102 and each component.
  • the storage 108 typically stores a system program 131 and a user program 132 that includes computer-readable codes necessary for control calculations.
  • the arithmetic unit 100 By executing the program stored in the storage 108, the arithmetic unit 100, which is a computer, executes the processing described in this specification, and the functional configuration described in this specification in the arithmetic unit 100, which is a computer, is executed. Make it happen.
  • the upper network interface 110 controls data communication with other devices via the upper network.
  • USB interface 112 controls data communication to and from supporting devices via a USB connection.
  • the memory card interface 114 is configured to allow a memory card 116 to be attached or removed, and is capable of writing data to the memory card 116 and reading various data (user programs, trace data, etc.) from the memory card 116. There is.
  • the field network interface 120 controls data communication with the sub-control device 20 via the field network 4.
  • FIG. 4 is a block diagram showing an example of the hardware configuration of the arithmetic unit 200 of the sub-control device 20 according to the present embodiment.
  • the arithmetic unit 200 includes a processor 202 such as a CPU or an MPU, a chipset 204, a memory 206, a storage 208, an upper network interface 210, a USB interface 212, and a memory card interface 214. , an internal bus interface 220.
  • the processor 202 reads various programs stored in the storage 208, expands them to the memory 206, and executes them, thereby realizing necessary processing in the arithmetic unit 200.
  • the chipset 204 controls data communication between the processor 202 and each component.
  • the storage 208 typically stores a system program 231 and a user program 232 that includes computer-readable codes necessary for control calculations.
  • the arithmetic unit 200 By executing the program stored in the storage 208, the arithmetic unit 200, which is a computer, executes the processing described in this specification, and the functional configuration described in this specification is performed in the arithmetic unit 200, which is a computer. Make it happen.
  • the upper network interface 210 controls data communication with other devices via the upper network.
  • USB interface 212 controls data communication to and from supporting devices via a USB connection.
  • the memory card interface 214 is configured to allow a memory card 216 to be attached or removed, and is capable of writing data to the memory card 216 and reading various data (user programs, trace data, etc.) from the memory card 216. There is.
  • the internal bus interface 220 controls data communication with one or more units (including the relay unit 250) via the internal bus 6.
  • the internal bus 6 supports cyclic communication and message communication.
  • a communication method exclusive to the manufacturer may be adopted, for example, EtherCAT (registered trademark), EtherNet/IP (registered trademark), PROFINET (registered trademark), PROFIBUS (registered trademark), DeviceNet (registered trademark). Trademark), FL-net, CompoNet (registered trademark), etc. may also be used.
  • FIG. 5 is a block diagram showing an example of the hardware configuration of relay unit 250 of sub-control device 20 according to the present embodiment.
  • relay unit 250 includes a processing circuit 260, a field network interface 270, and an internal bus interface 280.
  • the processing circuit 260 realizes the processing and functions of the relay unit 250 as described below. More specifically, processing circuit 260 includes a processor 262, memory 264, and storage 266.
  • the processor 262 reads the system program (firmware) stored in the storage 266, expands it to the memory 264, and executes it, thereby realizing necessary processing in the relay unit 250.
  • the storage 266 stores exchange settings 268 for realizing data transfer.
  • the field network interface 270 controls data communication with the main controller 10 via the field network 4.
  • the internal bus interface 280 controls data communication with one or more units (including the arithmetic unit 200) via the internal bus 6.
  • FIGS. 3 to 5 show configuration examples in which necessary functions are provided by a processor executing a program, but some or all of these provided functions can be implemented using dedicated hardware circuits (e.g. , ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), etc.).
  • ASIC Application Specific Integrated Circuit
  • FPGA Field-Programmable Gate Array
  • a "processor” is not limited to a narrowly defined processor that executes processing using a stored program method, but may include hard-wired circuits such as ASIC and FPGA. Therefore, the term “processor” can also be read as a processing circuitry whose processing is predefined by computer readable code and/or hardwired circuitry.
  • the main part of the arithmetic unit may be realized using hardware that follows a general-purpose architecture (for example, an industrial personal computer based on a general-purpose personal computer).
  • a general-purpose architecture for example, an industrial personal computer based on a general-purpose personal computer.
  • virtualization technology may be used to run multiple OSs (Operating Systems) for different purposes in parallel, and to run necessary applications on each OS.
  • the support device 300 is configured, for example, by a general-purpose computer that follows a general-purpose architecture. Since examples of the hardware configuration of general-purpose computers are well known, detailed explanations will not be provided.
  • EtherCAT When EtherCAT is adopted as the field network 4, there is a communication master (hereinafter abbreviated as “master”) that manages the transmission timing of frames 30 in the field network 4, and one or more communication masters that are managed by the communication master. There is a communication slave (hereinafter abbreviated as “slave”).
  • master a communication master
  • slave a communication slave
  • the main control device 10 serves as a master
  • the relay unit 250 serves as a slave.
  • each device When each device receives the frame 30 from an adjacent device, it reads the data included in the frame 30 and writes the data held by its own device to the frame 30 (updates the data in the corresponding area of the frame 30). do).
  • FIG. 6 shows an example of the data structure of a frame 30 that is cyclically transmitted through the field network 4 of the control system 1 according to the present embodiment.
  • the frame 30 circulates through all devices (including the main controller 10 and the relay unit 250) connected to the field network 4 at every predetermined transmission cycle (eg, 1 msec to several 100 msec).
  • the frame 30 has an area set for storing transmission data for each device.
  • the frame 30 includes an area 3M for storing transmission data from the master, and areas 31 to 3N for storing transmission data from the slaves 1 to N, respectively.
  • the relay unit 250 when the relay unit 250 corresponds to the slave 1, upon receiving the frame 30, the relay unit 250 writes the data held by the own unit (transmission data 50) in the area 31 of the received frame 30, and , reads out data (received data 60) stored in areas 3M, 32 to 3N of frame 30.
  • the arithmetic unit 200 transmits and receives data via the relay unit 250. That is, the arithmetic unit 200 exchanges data with the main control device 10 and other sub-control devices 20 connected to the field network 4 via the relay unit 250.
  • FIG. 7 is a diagram for explaining data transfer by the sub-control device 20 of the control system 1 according to the present embodiment.
  • arithmetic unit 200 of sub-control device 20 holds process data 70.
  • the process data 70 includes input data 72, output data 74, and system data 76.
  • the input data 72 includes, for example, signals measured or detected by various sensors.
  • Output data 74 includes the results of control calculations 40 based on input data 72 and the like.
  • System data 76 includes management information by system management 82 .
  • the management information indicates the operating state of the sub-control device 20, the occurrence of an error, and the like.
  • specified data is copied as the transmission data 50.
  • the received data 60 is basically copied as input data 72.
  • data is exchanged between the process data 70 and the transmitted data 50 and received data 60 according to the exchange settings 268 .
  • the transmission data 50 and the reception data 60 are updated every transmission period of cyclic communication of the field network 4.
  • Data exchange between the process data 70 and the transmitted data 50 and received data 60 is performed every transmission cycle of the internal bus 6.
  • the relay unit 250 transmits the process data 70 managed by the calculation unit 200 via the field network 4 and the calculation unit 200 receives the received data 60 via the field network 4 according to the exchange setting 268. It is configured to execute data transfer including updating of process data 70 to be managed.
  • the calculation unit 200 of the sub-control device 20 exchanges data with the main control device 10 and other sub-control devices 20 connected to the field network 4 via the relay unit 250.
  • the relay unit 250 has a storage area that holds data sent and received via the field network 4 and a storage area that holds data that is sent and received via the internal bus 6. have.
  • FIG. 8 is a diagram for explaining data transfer by relay unit 250 of control system 1 according to the present embodiment.
  • relay unit 250 holds transmission data 50 and reception data 60 exchanged via field network 4, and input data 90 and output data exchanged with calculation unit 200. Data 80 is held.
  • the exchange settings 268 described above are the first settings (entries included in the output data 80) indicating the data to be transmitted (output data 80) among the process data 70 managed by the arithmetic unit 200, and the first settings (entries included in the output data 80) to be transmitted via the network.
  • a second setting an entry included in the transmission data 50
  • a third setting indicating the data to be updated (input data 90) among the process data 70 managed by the calculation unit 200.
  • an entry included in the input data 90 and a fourth setting (an entry included in the received data 60) indicating data to be received via the network (received data 60).
  • the data size of the data included in the output data 80 from the arithmetic unit 200 matches the data size of the data included in the transmission data 50 sent to the main control device 10 and other sub-control devices 20.
  • the data size of the data included in the received data 60 from the main control device 10 and other sub-control devices 20 matches the data size of the data included in the input data 90 transmitted to the arithmetic unit 200.
  • the relay unit 250 determines that the data sizes set between the output data 80 and the transmission data 50 do not match based on the entry set in the exchange setting 268, and/or If the data sizes set between input data 90 and received data 60 do not match, data transfer may be stopped or invalidated.
  • the relay unit 250 determines whether or not the data sizes of the entries included in the output data 80 and the entries included in the transmission data 50 match, and the data size of the entries included in the input data 90. It is determined whether or not the data sizes of the entry and the entry included in the received data 60 match. If the data sizes do not match between the entries included in the output data 80 and the entries included in the transmission data 50 and/or the entries included in the input data 90 and the entries included in the reception data 60. If the data sizes do not match, data transfer according to exchange settings 268 is stopped or disabled.
  • the data transmitted and received by the main control device 10 and one or more sub-control devices 20 may often change. Therefore, situations often occur in which the data sizes set between the output data 80 and the transmission data 50 do not match, and/or the data sizes set between the input data 90 and the received data 60 do not match. obtain. As a result, data transfer in the control system 1 may be stopped or disabled.
  • control system 1 if the data sizes do not match between the entries included in the output data 80 and the entries included in the transmission data 50, and/or the entries included in the input data 90 Even if the data size does not match between the entry included in the received data 60 and the entry included in the received data 60, data transfer according to the exchange setting 268 can be executed.
  • FIG. 9 is a diagram showing an example in which the data sizes set in the relay unit 250 of the control system 1 according to the present embodiment do not match.
  • output data 80 includes only two entries
  • transmission data 50 includes four entries.
  • received data 60 includes four entries
  • the input data 90 includes only two entries.
  • the data sizes set between the output data 80 and the transmission data 50 do not match.
  • the data sizes set between input data 90 and received data 60 do not match. Even in such a case, data transfer by relay unit 250 may be performed.
  • the transmission data 50 and reception data 60 held by the relay unit 250 may be set to a predetermined data size.
  • a dummy data entry may be automatically set so that a fixed data size is maintained even if the entry is not explicitly set.
  • the data size may be maintained constant even if the entry changes.
  • FIG. 10 is a diagram illustrating an example of processing when the data sizes set in the relay unit 250 of the control system 1 according to the present embodiment do not match.
  • relay unit 250 formally matches the data sizes by adding dummy data.
  • dummy data corresponding to two entries of the transmission data 50 is added to the output data 80.
  • dummy data corresponding to the two entries of the received data 60 is added to the input data 90.
  • the relay unit 250 may generate dummy data based on the exchange settings 268 so that data of a predetermined data size is transferred. That is, the relay unit 250 may generate dummy data corresponding to the difference between the data size of the entry indicated by the exchange setting 268 and a predetermined data size.
  • data transfer may be performed for entries that match between output data 80 and transmission data 50 and/or entries that match between input data 90 and reception data 60.
  • two entries match between the output data 80 and the transmission data 50, and the data corresponding to these two entries will not be transferred even if the data is transferred. good. Furthermore, two entries match between the input data 90 and the received data 60, and data transfer may be performed for data corresponding to these two entries.
  • data transfer is performed within the range of entries that match between the output data 80 and the transmission data 50 and/or within the range of entries that match between the input data 90 and the received data 60. May be executed. That is, the relay unit 250 selects matching data between the entry included in the output data 80 (data indicated by the first setting) and the entry included in the transmission data 50 (data indicated by the second setting), and , data transfer is performed for matching data among the entry included in the input data 90 (data indicated by the third setting) and the entry included in the received data 60 (data indicated by the fourth setting).
  • whether or not the entries match may be determined based on the number and data type of the data set in each entry, or based on the data length of the data set in each entry. It may be determined that
  • FIG. 11 is a diagram for explaining an example of processing in relay unit 250 of control system 1 according to the present embodiment.
  • FIG. 11 shows an example in which there is no matching entry between output data 80 and transmission data 50, and there is no matching entry between input data 90 and received data 60. .
  • exchange configuration 268 as shown in FIG. 11, data exchange 46 is not substantially performed. However, the data update 42 between the main controller 10 and the relay unit 250 via the field network 4, and the data update 44 between the arithmetic unit 200 and the relay unit 250 via the internal bus 6 are performed periodically. is executed.
  • the relay unit 250 periodically updates the entries included in the output data 80 (data indicated by the first setting) and the entries included in the input data 90 (data indicated by the third setting), and The entries included in the transmission data 50 (data indicated by the second setting) and the entries included in the received data 60 (data indicated by the fourth setting) are repeatedly updated.
  • the behavior when the data size set between the output data 80 and the transmission data 50 do not match, and/or the data size set between the input data 90 and the received data 60 does not match can be set arbitrarily. It may be possible to set it to . For example, if the data sizes do not match, (1) the relay unit 250 transfers the data after notifying the user, or (2) the relay unit 250 transfers the data without notifying the user of any kind of warning. The user may be able to arbitrarily select from a plurality of modes, such as (3) executing (3) stopping or disabling data transfer at the relay unit 250.
  • (1) or (2) may be selected in a predetermined specific state, and (3) may be selected in a different state from the specific state.
  • exchange settings are required for data updates between main controller 10 and relay unit 250, and data updates between arithmetic unit 200 and relay unit 250. It may be executed independently of the settings of H.268. Furthermore, modes may be added in which the types or degrees of importance of the alarms to be notified are different.
  • any of the data update between the main controller 10 and the relay unit 250, the data update between the arithmetic unit 200 and the relay unit 250, and the data exchange in the relay unit 250 is selected. may also be stopped or disabled.
  • the state for executing each of (1) to (3) may be selected depending on the mode set by the user.
  • a switch provided in the relay unit 250 or the arithmetic unit 200 may be used, or the user may change the internal mode setting by operating the support device 300.
  • a method for notifying the warning in (1) a method of blinking or lighting a display device (for example, an LED) provided in the relay unit 250 or the arithmetic unit 200 may be adopted.
  • a method for notifying the warning a method may be adopted in which a sound or voice indicating the warning is output from an audio device (for example, a speaker) provided in the relay unit 250 or the arithmetic unit 200.
  • a flag indicating the presence or absence of a warning may be provided in the system data of the arithmetic unit 200 so that the user can recognize the occurrence of a warning by operating the support device 300.
  • the information may include a notification unit that provides a warning when the data size does not match with the entry included in the entry.
  • FIG. 12 is a diagram for explaining an example of the operation when data updating is stopped in the control system according to the present embodiment.
  • FIG. 12 shows a state in which data updating 44 (updating of output data 80 and transmission of input data 90) between arithmetic unit 200 and relay unit 250 is stopped for some reason.
  • Reasons for stopping include, for example, (1) some kind of failure has occurred in any of the units; (2) there is some kind of error in the settings of any of the units (this may also include cases where no settings have been made). , (3) Some kind of abnormality has occurred in the communication involving one of the units (the own unit may be the cause of the communication error, or another unit may be the cause of the communication error) ), etc.
  • data update 42 transmission of transmission data 50 and updating of reception data 60
  • data update 42 between main controller 10 and relay unit 250 and data update 44 between arithmetic unit 200 and relay unit 250 are executed independently of each other, so if one of them stops for some reason. Even if one does, it will not affect the other.
  • FIG. 12 shows a state where the data update 44 between the arithmetic unit 200 and the relay unit 250 is stopped, it is also possible that the data update 42 between the main controller 10 and the relay unit 250 is stopped. The same is true even if you are in a state where you are.
  • a mechanism is provided in which it is possible to know the state in which the data update 44 between the arithmetic unit 200 and the relay unit 250 is stopped, and/or in the arithmetic unit 200, the relay unit 250 and the relay unit 250 A mechanism may be provided that allows the user to know when the data update 42 with the unit 250 is stopped.
  • the relay unit 250 may transmit information regarding the validity of the communication including that the data update 44 between the arithmetic unit 200 and the relay unit 250 has been stopped to the main control device 10.
  • the main control device 10 can know an abnormality occurring in data communication from the relay unit 250 to the arithmetic unit 200. For example, by assigning information regarding validity to an arbitrary variable, the variable may be made referenceable from the user program 132 executed in the main control device 10.
  • the relay unit 250 is in a state where the data update 42 between the main controller 10 and the relay unit 250 is stopped.
  • Information regarding the validity of the communication may be transmitted to the calculation unit 200.
  • the main controller 10 and/or the processing unit 200 can monitor the validity of communication while Communication processing can be executed in the control device 10 and/or the arithmetic unit 200.
  • FIG. 13 is a flowchart illustrating an example of a processing procedure for transmitting I/O data through cyclic communication by relay unit 250 according to the present embodiment. Each step shown in FIG. 13 may be realized by the processor 262 of the relay unit 250 executing a system program.
  • relay unit 250 determines whether the conditions for reading exchange settings 268 are satisfied (step S100).
  • Conditions for reading the exchange settings 268 include, for example, immediately after the relay unit 250 is powered on, immediately after the relay unit 250 is reset, and immediately after the new exchange settings 268 are transferred from the support device 300.
  • relay unit 250 reads exchange settings 268, assigns entries for output data 80 and input data 90, and assigns transmission data 50 and reception data.
  • Obtain entry allocation for the data 60 step S102), and check whether the data sizes set between the output data 80 and the transmission data 50 match, and whether the data sizes set between the input data 90 and the reception data 60 match. It is determined whether the set data sizes match (step S104).
  • the relay unit 250 obtains the currently set mode (step S106), and determines whether the data size mismatch is a data transfer execution condition according to the set mode (step S108). ).
  • step S108 If the data size mismatch is a data transfer execution condition (YES in step S108), the relay unit 250 stops the data transfer (step S110). Then, the process ends.
  • the relay unit 250 issues a warning indicating the data size mismatch in a manner according to the set mode (step S112). . Further, the relay unit 250 determines the data transfer target based on entries that match between the output data 80 and the transmission data 50 and entries that match between the input data 90 and the received data 60. Data is determined (step S114). Then, the processing from step S100 onwards is repeated.
  • step S104 If the data sizes set between the output data 80 and the transmission data 50 match, and the data sizes set between the input data 90 and the reception data 60 match (YES in step S104), the relay The unit 250 determines data to be transferred based on the exchange settings 268 (step S116). Then, the processing from step S100 onwards is repeated.
  • relay unit 250 updates transmission data 50 and reception data 60 (step S118), and also updates output data 80 and input data 90. (Step S120).
  • the relay unit 250 updates the transmitted data 50 and the received data 60 between the main controller 10 and the relay unit 250 via the field network 4, and updates the internal bus regardless of the settings of the exchange settings 268. Data updating of the output data 80 and the input data 90 between the arithmetic unit 200 and the relay unit 250 via 6 is performed periodically.
  • the relay unit 250 transfers the data to be transferred between the output data 80 and the transmission data 50 and between the reception data 60 and the input data 90 (step S122). Note that there may be cases where there is no data to be transferred. In this case, virtually no data exchange takes place. Then, the processing from step S100 onwards is repeated.
  • FIG. 13 shows a processing example in which the relay unit 250 evaluates the settings of the exchange settings 268, the calculation unit 200 may evaluate the settings of the exchange settings 268.
  • the processing procedure shown in FIG. 13 will be executed by the arithmetic unit 200 and the relay unit 250 in cooperation.
  • the support device 300 may execute at least a portion of the processing procedure shown in FIG.
  • the exchange setting 268 does not exist and/or if there is virtually no setting content in the exchange setting 268, no settings will be made even if the relay unit 250 reads the exchange setting 268. . Even in such a case, the data exchange 46 (updating the transmitted data 50 with the output data 80 and updating the input data 90 with the received data 60) in the relay unit 250 is not executed, and the main controller 10 and relay unit 250 (transmission of transmission data 50 and update of reception data 60), and data update 44 (transmission of output data 80 and update of input data) between arithmetic unit 200 and relay unit 250. 90) may be performed according to predetermined settings.
  • the relay unit 250 may continue updating data with the main controller 10 and updating data with the arithmetic unit 200 even if the exchange setting 268 does not exist.
  • FIG. 14 is a schematic diagram showing an example of a user interface for creating exchange settings 268 for relay unit 250 in control system 1 according to the present embodiment.
  • the support device 300 provides the user interface shown in FIG.
  • a setting screen 350 displays a setting item group 352 for data to be transferred from the arithmetic unit 200 to the main controller 10, and a setting item group 354 for data to be transferred from the main controller 10 to the arithmetic unit 200.
  • Each of the setting item groups 352 and 354 includes multiple types of settings according to data structure and data type.
  • the setting screen 350 includes a data candidate group 356 to be data transferred.
  • the user selects the target item from the setting item groups 352 and 354, and then selects the data to be transferred from the data candidate group 356.
  • the add button 358 By pressing the add button 358, the selected data is added as a transfer target, and by pressing the delete button 360, the selected data is deleted from the transfer target.
  • the exchange settings 268 created by the user by operating the settings screen 350 are stored in the relay unit 250, and the corresponding settings are also stored in the main controller 10 and the calculation unit 200.
  • the user interface is not limited to the example shown in FIG. 14, and any interface may be provided, or the exchange settings 268 may be created using any method without providing a user interface.
  • a separate setting screen is provided for setting entries for data included in the frame 30 of the field network 4.
  • the user interface may not be provided by the support device 300, but may be directly provided by the computing unit 200 or the relay unit 250.
  • a web server function may be incorporated into the computing unit 200 or the relay unit 250.
  • control system 1 may provide a user interface for creating the exchange settings 268 in response to user operations.
  • a control system (1) comprising a first control device (10) and a second control device (20) connected via a network (4),
  • the second control device includes a calculation unit (200) that performs control calculations, and a relay unit (250) having an interface (270) for connecting to the network,
  • the relay unit transmits data (70) managed by the computing unit via the network and updates the data managed by the computing unit with data received via the network, according to exchange settings (268).
  • the exchange settings include a first setting indicating data to be transmitted (80) among data managed by the calculation unit, a second setting indicating data (50) to be transmitted via the network, and a second setting indicating the data (50) to be transmitted via the network.
  • the relay unit is Whether or not the data sizes of the data indicated by the first setting and the data indicated by the second setting match, and the data indicated by the third setting and the data indicated by the fourth setting. determine at least one of whether the data sizes match or not, In a predetermined first state, if the data size does not match between the data indicated by the first setting and the data indicated by the second setting, and/or the data indicated by the third setting and data indicated by the fourth setting, the control system executes data transfer according to the exchange setting even if data sizes do not match.
  • the relay unit In the first state, the relay unit periodically updates the data indicated by the first setting and the data indicated by the third setting, and periodically updates the data indicated by the second setting and the data indicated by the fourth setting.
  • the control system according to configuration 1, wherein the control system repeatedly updates the data indicated by the settings.
  • the relay unit may match the data indicated by the first setting and the data indicated by the second setting, and the data indicated by the third setting and the data indicated by the fourth setting.
  • the control system according to any one of configurations 1 to 4, wherein the control system executes data transfer for matching data.
  • the relay unit is In a second state different from the first state, if the data size does not match between the data indicated by the first setting and the data indicated by the second setting, and/or According to any one of configurations 1 to 7, if the data size does not match between the data indicated by the setting and the data indicated by the fourth setting, data transfer according to the exchange setting is stopped or invalidated. control system.
  • the relay unit transmits data (70) managed by the computing unit via the network and updates the data managed by the computing unit with data received via the network, according to exchange settings (268).
  • the exchange settings include a first setting indicating data to be transmitted (80) among data managed by the calculation unit, a second setting indicating data (50) to be transmitted via the network, and a second setting indicating the data (50) to be transmitted via the network.
  • the relay unit is Whether or not the data sizes of the data indicated by the first setting and the data indicated by the second setting match, and the data indicated by the third setting and the data indicated by the fourth setting. determine at least one of whether the data sizes match or not, In a predetermined first state, if the data size does not match between the data indicated by the first setting and the data indicated by the second setting, and/or the data indicated by the third setting and data indicated by the fourth setting, the control device executes data transfer according to the exchange setting even if data sizes do not match.
  • a communication method in a control system (1) comprising a first control device (10) and a second control device (20) connected via a network (4), wherein the second control device executes a control calculation. and a relay unit having an interface for connecting to the network, the communication method comprising:
  • the relay unit transmits data (70) managed by the computing unit via the network and updates the data managed by the computing unit with data received via the network, according to exchange settings (268).
  • the exchange settings include a first setting indicating data (80) to be transmitted among data managed by the arithmetic unit, and data (80) to be transmitted via the network.
  • a third setting indicating data (90) to be updated among data managed by the arithmetic unit and a fourth setting indicating data (60) to be received via the network.
  • a fourth setting indicating data (60) to be received via the network including the settings of Whether or not the data sizes of the data indicated by the first setting and the data indicated by the second setting match, and the data indicated by the third setting and the data indicated by the fourth setting.
  • Control system 3M, 31, 32 to 3N area, 4 Field network, 6 Internal bus, 10 Main control device, 20 Sub control device, 30 Frame, 40 Control calculation, 50 Transmission data, 60 Reception data, 70 Process data, 72,90 Input data, 74,80 Output data, 76 System data, 82 System management, 100,200 Arithmetic unit, 102,202,262 Processor, 104,204 Chipset, 106,206,264 Memory, 108,208, 266 Storage, 110, 210 Upper network interface, 112, 212 USB interface, 114, 214 Memory card interface, 116, 216 Memory card, 120, 270 Field network interface, 131, 231 System program, 132, 232 User program, 220, 280 Internal bus interface, 250 Relay unit, 260 Processing circuit, 268 Exchange setting, 300 Support device, 350 Setting screen, 352, 354 Setting item group, 356 Data candidate group, 358 Add button, 360 Delete button.

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Communication Control (AREA)
  • Small-Scale Networks (AREA)

Abstract

Selon la présente invention, une unité de relais détermine si des données indiquées par un premier paramètre et des données indiquées par un deuxième paramètres sont identiques en termes de taille de données et/ou si des données indiquées par un troisième paramètre et des données indiquées par un quatrième paramètre sont identiques en termes de taille de données. L'unité de relais exécute un transfert de données conformément à un paramètre d'échange, même lorsque les données indiquées par le premier paramètre et les données indiquées par le deuxième paramètre ne sont pas les mêmes en termes de taille de données et/ou lorsque les données indiquées par le troisième paramètre et les données indiquées par le quatrième paramètre ne sont pas les mêmes en termes de taille de données dans un premier état prédéterminé.
PCT/JP2023/008837 2022-07-14 2023-03-08 Système de commande, dispositif de commande et procédé de communication WO2024014047A1 (fr)

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JP2019179361A (ja) * 2018-03-30 2019-10-17 オムロン株式会社 セーフティ制御システムおよびセーフティ制御ユニット

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