WO2024075556A1 - Processeur et système de commande le comprenant - Google Patents

Processeur et système de commande le comprenant Download PDF

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Publication number
WO2024075556A1
WO2024075556A1 PCT/JP2023/034620 JP2023034620W WO2024075556A1 WO 2024075556 A1 WO2024075556 A1 WO 2024075556A1 JP 2023034620 W JP2023034620 W JP 2023034620W WO 2024075556 A1 WO2024075556 A1 WO 2024075556A1
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WIPO (PCT)
Prior art keywords
memory
cpu
communication
information
core
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PCT/JP2023/034620
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English (en)
Japanese (ja)
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靖啓 衣笠
圭 相見
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パナソニックＩｐマネジメント株式会社
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Priority to CN202380012592.6A priority Critical patent/CN118140183A/zh
Publication of WO2024075556A1 publication Critical patent/WO2024075556A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F8/00—Arrangements for software engineering
    • G06F8/60—Software deployment
    • G06F8/65—Updates

Definitions

  • This disclosure relates to a processor that performs computational processing and external communication processing, and a control system equipped with the processor.
  • Patent document 1 discloses a microcontroller that uses motor rotation information to perform calculations to detect abnormalities in the motor rotation control.
  • This disclosure has been made in light of these points, and its purpose is to reduce software development costs when the communication standard between the processor and the outside world changes, and to increase the freedom to set the communication cycle between the processor and the outside world.
  • the present disclosure is characterized in that the processor includes a first memory that stores input information, output information, and setting parameters, a first core that executes a predetermined calculation process, a parameter write process that reads setting parameters corresponding to a predetermined communication standard from a second memory that stores the setting parameters and writes the setting parameters to the first memory, an input information read process that reads the input information from the memory, and an output information write process that writes information obtained by the calculation process to the first memory as the output information, and a second core that executes a parameter read process that reads the setting parameters from the first memory, a communication process with the outside using the setting parameters read in the parameter read process, an input information write process that writes information received in the communication process to the first memory as the input information, and an output information read process that reads the output information from the first memory to transmit in the communication process.
  • the configuration parameters corresponding to the changed communication standard are stored in the second memory, there is no need to change the software executed by the first core when the communication standard between the processor and the outside is changed. Therefore, the processing of the first core is not affected when the communication standard between the processor and the outside is changed, and development costs can be reduced.
  • communication processing by the second core can be performed in parallel with calculation processing by the first core, which increases the flexibility in setting the communication cycle between the processor and the outside world.
  • This disclosure makes it possible to reduce software development costs when changing communication standards between the processor and the outside world, and to increase the freedom to set the communication cycle between the processor and the outside world.
  • FIG. 1 is a block diagram showing a configuration of a robot system including a notification CPU according to an embodiment of the present disclosure.
  • FIG. 1 is a block diagram showing a configuration of a robot control system including a notification CPU according to an embodiment of the present disclosure.
  • 2 is a block diagram showing the configuration of two notification CPUs according to an embodiment of the present disclosure.
  • FIG. FIG. 2 is an explanatory diagram of a storage area provided in a first memory.
  • 11 is a communication sequence diagram showing the operation of a robot control system including a notification CPU according to an embodiment of the present disclosure.
  • FIG. 11 is a communication sequence diagram showing a detailed operation of a notification CPU related to communication with a safety PLC.
  • FIG. 1 shows the configuration of a robot system 1.
  • This robot system 1 includes multiple robots 11, multiple area sensors 12, multiple lamps 16, multiple input devices 13, multiple robot control systems 14, and a safety PLC (programmable logic controller) 15.
  • PLC programmable logic controller
  • Each robot 11 has nine motors 111 and nine encoders 112 that detect and output the position of the rotation axis of the corresponding motor 111.
  • Each robot 11 is a six-axis robot with six rotary joints, and six of the nine motors 111 are motors that rotate the rotary joints, and three motors 111 are motors for external axes (not shown).
  • the output of the encoders 112 is input to a monitoring CPU 143 (described later) and a motor control board (not shown).
  • Each area sensor 12 is provided for each robot 11.
  • the area sensor 12 outputs a detection result indicating whether or not a person is within the working range of the robot 11.
  • Each input device 13 is provided for each robot 11.
  • the input device 13 is composed of a control panel, and accepts an input operation by a user to stop the robot 11, and outputs an operation status indicating whether or not the input operation has been accepted.
  • each robot control system 14 is provided for each robot 11. As shown in FIG. 2, each robot control system 14 includes an input/output CPU (Central Processing Unit) 141 as two input processors, an operation input CPU 142 as two input processors, a monitoring CPU 143 as two monitoring processors, a notification CPU 144 as two notification processors, nine amplifiers 145, first and second communication boards 146 and 147, and a second memory 148.
  • the amplifier 145 is provided for each motor 111.
  • the two input/output CPUs 141 are disposed on a common first board 14a.
  • the two operation input CPUs 142 are disposed on a common second board 14b.
  • the two monitoring CPUs 143 are disposed on a common third board 14c.
  • the two notification CPUs 144 are disposed on a common fourth board 14d.
  • the input/output CPU 141, the operation input CPU 142, the monitoring CPU 143, and the notification CPU 144 are arranged on separate boards 14a to 14d.
  • Signals (information) are sent and received between the operation input CPU 142 and the notification CPU 144 using a communication method specified in IEC 61784-3 (black channel communication protocol).
  • the first and second communication boards 146, 147 and the communication medium M form a so-called black channel.
  • Signals (information) are also sent and received between the monitoring CPU 143 and the notification CPU 144, and between the input/output CPU 141 and the notification CPU 144 using a communication method specified in IEC 61784-3.
  • Each I/O CPU 141 generates first external input information indicating the detection result based on the detection result output by the external area sensor 12.
  • the I/O CPU 141 also receives an on/off signal from the notification CPU 144 indicating whether or not to turn the lamp 16 on and off, outputs the detection result to the lamp 16, and blinks the lamp 16 based on the on/off signal.
  • Each I/O CPU 141 outputs a first calculated value obtained in the generation process of the first external input information, and determines whether or not the first calculated value matches the first calculated value output by the other I/O CPU 141.
  • the first calculated value may be, for example, the first external input information, or a calculated value obtained in the calculation process leading up to the generation of the first external input information. If the first calculated value obtained by the I/O CPU 141 matches the first calculated value obtained by the other I/O CPU 141, each I/O CPU 141 continues processing, but if they do not match a predetermined number of times, it stops the robot 11.
  • Each operation input CPU 142 generates second external input information indicating the operation state based on the operation state output by the external input device 13.
  • Each operation input CPU 142 outputs a second calculated value obtained in the generation process of the second external input information, and determines whether or not the second calculated value matches the second calculated value output by the other operation input CPU 142.
  • the second calculated value may be, for example, the second external input information, or a calculated value obtained in the calculation process leading up to the generation of the second external input information.
  • Each operation input CPU 142 continues processing if the second calculated value obtained by the operation input CPU 142 matches the second calculated value obtained by the other operation input CPU 142, but stops the robot 11 if they do not match a predetermined number of times.
  • the first communication board 146 receives the second external input information sent by both operation input CPUs 142 and transmits it to the second communication board 147 via the communication medium M.
  • the second communication board 147 transmits the second external input information sent from the first communication board 146 to both notification CPUs 144.
  • Each monitoring CPU 143 generates and outputs monitoring information based on the output of the corresponding nine encoders 112, indicating whether or not the safety conditions are met, that is, the positions (angles) of the rotation shafts of the nine motors 111 are within the safety area and the speeds of the rotation shafts of the nine motors 111 are less than the speed limit.
  • each monitoring CPU 143 refers to a notification signal (described later) output by the notification CPU 144, and outputs a stop signal to the amplifier 145 if the notification signal is at a low level.
  • Each monitoring CPU 143 outputs the third calculated value obtained in the monitoring information generation process and determines whether or not the third calculated value matches the third calculated value output by the other monitoring CPU 143.
  • the third calculated value may be, for example, monitoring information, or a calculated value obtained in the calculation process leading up to generating the monitoring information. If the third calculated value obtained by the monitoring CPU 143 matches the third calculated value obtained by the other monitoring CPU 143, each monitoring CPU 143 continues processing as is, but if they do not match a predetermined number of times, it stops the robot 11.
  • the amplifier 145 stops the motor 111 when a stop signal is output by both monitoring CPUs 143. When a stop signal is not output by both monitoring CPUs 143, the amplifier 145 can rotate the motor 111 under the control of a motor control board (not shown).
  • the second memory 148 stores setting parameters corresponding to a specific communication standard selected by the user and the number of points (number of bits) of input and output data.
  • the second memory 148 initially stores temporary values.
  • the setting parameters of the selected communication standard and the number of points of input and output data are set in the second memory 148 by the user's specific input operation.
  • each notification CPU 144 includes a first memory 210, a first core 220, and a second core 230.
  • the first memory 210 is a volatile memory capable of storing setting parameters, the number of data points to be input and output, output information, input information, and a standard setting value that is set in advance by the user and specifies the communication standard to be used. As shown in FIG. 4, the first memory 210 has a parameter area for storing setting parameters corresponding to a plurality of types of communication standards, a periodic communication area for storing the number of data points (number of bits) to be input and output, and an input/output information area for storing input information and output information.
  • the parameter areas include an area for storing setting parameters for CIPsafety, an area for storing setting parameters for PROFISafe, and an area for storing setting parameters for FSoE, which are assigned in advance by the first core 220 and the second core 230 of the notification CPU 144, which will be described later.
  • the setting parameters for CIPsafety are an IP address, a subnet mask, a gateway, an SNN (Safety Network Number), and an SCID.
  • the configuration parameters for PROFISafe are IP address, subnet mask, gateway, and F-Source address. IP address, subnet mask, and gateway are common configuration parameters used by both CIPsafety and PROFISafe.
  • the configuration parameter for FSoE is FSoE address.
  • the first core 220 performs the functions of a notification signal generation processing unit 221, a parameter writing unit 222, an input information reading processing unit 223, and an output information writing processing unit 224 by executing a program.
  • the notification signal generation processing unit 221 receives the first external input information generated by the input/output CPU 141, the second external input information generated by the operation input CPU 142, and the monitoring information output by the monitoring CPU 143. The notification signal generation processing unit 221 then executes a notification signal generation process as a calculation process for generating a notification signal based on the monitoring information, the first external input information, and the second external input information. Specifically, for example, the notification signal generation processing unit 221 sets the notification signal to a low level when the safety conditions are not met, when a person is within the working range of the robot 11, when an input operation to stop the robot 11 is performed, and when a request to stop the robot 11 is received from the safety PLC 15.
  • the notification signal generation processing unit 221 sets the notification signal to a high level when the safety conditions are met, when a person is not within the working range of the robot 11, when an input operation to stop the robot 11 is not performed, and when a request to stop the robot 11 is not received from the safety PLC 15.
  • the notification signal is information indicating whether the following conditions are met: the safety conditions are met, a person is not within the working range of the robot 11, no input operation has been performed to stop the robot 11, and no request to stop the robot 11 has been received from the safety PLC 15.
  • the parameter writing unit 222 executes a parameter writing process that reads from the second memory 148 the setting parameters corresponding to one of the communication standards specified by the standard setting value and the number of data points to be input and output, and writes them to the first memory 210.
  • the input information reading processing unit 223 executes an input information reading process to read the input information from the first memory 210.
  • the output information writing processing unit 224 executes an output information writing process that writes the notification signal obtained by the notification signal generation processing unit 221's notification signal generation processing into the first memory 210 as output information.
  • Each first core 220 outputs the fourth calculated value obtained in the notification signal generation process, and determines whether or not the calculated value matches the fourth calculated value output by the other first core 220.
  • the fourth calculated value may be the value of the notification signal obtained by the notification signal generation process, or may be a calculated value obtained during the calculation process up to generating the notification signal. If the fourth calculated value obtained by the first core 220 matches the fourth calculated value obtained by the other first core 220, each first core 220 continues processing as is, but if they do not match a predetermined number of times, it executes a predetermined abnormality process.
  • the second core 230 performs the functions of a parameter reading processing unit 231, a communication processing unit 232, an input information writing processing unit 233, and an output information reading processing unit 234 by executing a program.
  • the parameter reading processing unit 231 executes a parameter reading process to read from the first memory 210 the setting parameters stored in the first memory 210 and the number of data points to be input and output.
  • the communication processing unit 232 performs communication processing with the external safety PLC 15 using the setting parameters read by the parameter read processing of the parameter read processing unit 231.
  • the number of data points input from the safety PLC 15 to the communication processing unit 232 and the number of data points output by the communication processing unit 232 to the safety PLC 15 are the number of data points read by the parameter read processing of the parameter read processing unit 231.
  • the communication processing unit 232 uses the setting parameters to constantly and repeatedly perform communication monitoring with the safety PLC 15 at predetermined timings.
  • the communication monitoring is, for example, processing to confirm that data can be received within a predetermined time, to confirm whether communication can be performed normally by sending predetermined data with error detection data added thereto, and to confirm whether data is consistent between the second cores 230.
  • the communication processing unit 232 repeats receiving PLC input information and sending notification signals with the safety PLC 15 at regular intervals using the setting parameters read by the parameter read processing unit 231.
  • the PLC input information indicates whether or not to request the robot 11 to stop.
  • the input information writing processing unit 233 executes an input information writing process in which the PLC input information received by the communication processing unit 232 during communication processing is written as input information into the first memory 210.
  • the output information reading processing unit 234 executes an output information reading process that reads the output information (notification signal) from the first memory 210 so that the communication processing unit 232 can transmit it in the communication process.
  • the first core 220 of each notification CPU 144 receives the second external input information generated by the operation input CPU 142 using a communication method specified in IEC 61784-3.
  • Each second core 230 outputs the fifth calculated value obtained in the communication process and determines whether or not the calculated value matches the fifth calculated value output by the other second core 230.
  • the fifth calculated value is, for example, input/output information. If the fifth calculated value obtained by the second core 230 matches the fifth calculated value obtained by the other second core 230, each second core 230 continues processing as is, but if they do not match a predetermined number of times, it abnormally stops.
  • the safety PLC 15 When a low-level notification signal is output by the notification CPU 144, the safety PLC 15, for example, requests the robot control systems 14 corresponding to all of the robots 11 to stop the robots 11. Note that this stop request may be sent only to the robot control systems 14 corresponding to some of the robots 11, if necessary. Note that a device other than the safety PLC 15 may be provided with the function of requesting the robots 11 to stop based on the notification signal.
  • the operation of the robot control system 14 configured as described above will be described below with reference to FIG. 5.
  • the notification CPU 144 plays the role of the master machine, while the monitoring CPU 143, the input/output CPU 141, and the operation input CPU 142 each play the role of a slave machine that operates according to instructions from the master machine.
  • the notification CPU 144 sends an output request to the monitoring CPU 143, the input/output CPU 141, and the operation input CPU 142 (S11).
  • the monitoring CPU 143 when the monitoring CPU 143 receives an output request from the notification CPU 144, it starts processing and receives the previously generated notification signal from the notification CPU 144 (S21). After that, the monitoring CPU 143 transmits the previously acquired monitoring information to the notification CPU 144 (S22).
  • the I/O CPU 141 when the I/O CPU 141 receives an output request from the notification CPU 144, it starts processing and receives an on/off signal from the notification CPU 144 as to whether or not to turn the lamp 16 on or off (S31). After that, the I/O CPU 141 transmits the detection result previously output by the area sensor 12 to the notification CPU 144 as the first external input information, and also transmits the previous output result of the lamp 16 to the notification CPU 144 (S32).
  • the operation input CPU 142 when the operation input CPU 142 receives an output request from the notification CPU 144, it starts processing (S41) and transmits the second external input information previously acquired to the notification CPU 144 (S42).
  • the notification CPU 144 receives monitoring information from the monitoring CPU 143, receives the first external input information and the output result of the lamp 16 from the input/output CPU 141, and receives the second external input information from the operation input CPU 142 (S12).
  • the notification CPU 144 receives information input from outside the robot control system 14, for example PLC input information from the safety PLC 15 (S13), and outputs (transmits) the information received in (S12) and the notification signal generated in the previous notification signal generation process to the safety PLC 15 (S14).
  • the safety PLC 15 receives a low-level notification signal, it requests the robot control systems 14 corresponding to all robots 11 to stop the robots 11.
  • the notification CPU 144 executes a notification signal generation process (S15) to generate a notification signal based on the monitoring information, the first external input information, and the second external input information acquired in (S12) and the PLC input information from the safety PLC 15 received in (S13). Specifically, for example, the notification CPU 144 sets the notification signal to a low level when the safety conditions are not met, when a person is within the working range of the robot 11, when an input operation to stop the robot 11 is performed, and when a request to stop the robot 11 is received from the safety PLC 15.
  • S15 a notification signal generation process
  • the notification CPU 144 sets the notification signal to a high level when the safety conditions are met, when a person is not within the working range of the robot 11, when an input operation to stop the robot 11 is not performed, and when a request to stop the robot 11 is not received from the safety PLC 15.
  • the monitoring CPU 143 outputs a stop signal in response to the notification signal (S23). Specifically, if the notification signal is at a low level, the monitoring CPU 143 outputs a stop signal to the amplifier 145. On the other hand, if the notification signal is at a high level, the monitoring CPU 143 does not output a stop signal to the amplifier 145.
  • the monitoring CPU 143 acquires the outputs of the nine encoders 112 (S24), calculates the position and speed of the rotating shaft of each motor 111 based on the output of each encoder 112 (S25), and generates monitoring information indicating whether the safety conditions are met (S26).
  • the input/output CPU 141 also outputs an on/off signal to the lamp 16 to determine whether or not to turn the lamp 16 on or off (S33), and acquires the detection result output by the area sensor 12 as the first external input information (S34).
  • the operation input CPU 142 acquires the operation state output by the input device 13 as second external input information (S43).
  • the robot control system 14 periodically repeats the above-described operations shown in FIG. 5.
  • the parameter writing unit 222 of the first core 220 of the notification CPU 144 executes a parameter writing process in which the setting parameters corresponding to any of the communication standards specified by the standard setting value and the number of data points to be input and output are read from the second memory 148 and written to the first memory 210 (S111).
  • the parameter reading processing unit 231 of the second core 230 executes a parameter reading process in which the setting parameters stored in the first memory 210 and the number of data points to be input and output are read from the first memory 210 (S121).
  • the communication processing unit 232 of the second core 230 performs an initialization process for communication with the safety PLC 15 using the setting parameters read in (S121) (S122).
  • the operations of (S111), (S121), and (S122) constitute an initial setting operation (SIN) that is performed only at startup.
  • a predetermined input signal is transmitted from the external device to the safety PLC 15 (S61), and the safety PLC 15 transmits PLC input information to the second core 230 (S51).
  • the communication processing unit 232 of the second core 230 receives PLC input information from the safety PLC 15 using the setting parameters read in (S121) (S123).
  • the input information writing processing unit 233 of the second core 230 executes an input information writing process in which the communication processing unit 232 writes the PLC input information received in (S123) as input information into the first memory 210 (S124).
  • the input information reading processing unit 223 of the first core 220 executes an input information reading process in which the PLC input information is read from the first memory 210 (S112).
  • the output information write processing unit 224 of the first core 220 executes an output information write process in which the notification signal obtained by the notification signal generation processing of the notification signal generation processing unit 221 is written as output information to the first memory 210 (S113).
  • the output information read processing unit 234 of the second core 230 executes an output information read process in which the output information is read from the first memory 210 in order to have the communication processing unit 232 transmit the output information by communication processing (S125).
  • the communication processing unit 232 of the second core 230 transmits the output information read in (S125) to the safety PLC 15 using the setting parameters read in (S121) (S126).
  • the safety PLC 15 receives the output information from the second core 230 and transmits it to an external device as an output signal (S52).
  • the processes (S122), (S123), and (S126) executed by the communication processing unit 232 correspond to the communication process.
  • the operations (S112), (S113), (S123), (S124), (S125), (S126), (S51), (S52), and (S61) constitute a data transfer operation (SRP) that is repeatedly executed after the initial setting operation (SIN).
  • the first core 220 of the notification CPU 144 reads the setting parameters from the second memory 148 and writes them to the first memory 210, and the second core 230 communicates with the external safety PLC 15 using the setting parameters written to the first memory 210. Therefore, if the setting parameters for the changed communication standard are stored in the second memory 148, it is not necessary to change the software executed by the first core 220 when the communication standard between the notification CPU 144 and the safety PLC 15 is changed. Therefore, development costs can be reduced when the communication standard between the notification CPU 144 and the safety PLC 15 is changed.
  • the communication processing by the second core 230 can be performed in parallel with the calculation processing by the first core 220, which increases the flexibility in setting the communication cycle between the notification CPU 144 and the safety PLC 15.
  • the notification CPU 144 since the monitoring CPU 143 generates the monitoring information, the input/output CPU 141 generates the first external input information, and the operation input CPU 142 generates the second external input information, the notification CPU 144 does not need to perform the generation process of the monitoring information, the first external input information, and the second external input information. Therefore, the load on the notification CPU 144 can be reduced compared to the case where the notification CPU 144 is made to execute the generation process of the monitoring information, the first external input information, and the second external input information in addition to the notification signal generation process.
  • the present disclosure is applied to the notification CPU 144, but the present disclosure can also be applied to other processors that perform predetermined calculation processing and communication processing with the outside using setting parameters.
  • the present disclosure is applied to a case where the first core 220 of the notification CPU 144 is not caused to perform the generation process of the monitoring information, the first external input information, and the second external input information, but the present disclosure can also be applied to a case where the first core 220 of the notification CPU 144 is caused to perform the generation process of the monitoring information, the first external input information, and the second external input information in addition to the notification signal generation process.
  • the processor and control system equipped with the processor disclosed herein can reduce software development costs when the communication standard between the processor and the outside is changed, and can increase the degree of freedom in setting the communication cycle between the processor and the outside, making it useful as a processor that performs calculation processing and communication processing with the outside and a control system equipped with the processor.
  • Robot control system 144 Notification CPU (processor) 148 Second memory 210 First memory 220 First core 230 Second core

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Abstract

La présente invention porte sur une UC de notification (144) qui est pourvue d'une première mémoire (210), d'un premier cœur (220) et d'un second cœur (230). Le premier cœur (220) exécute : un processus de lecture de paramètres de réglage correspondant à une norme de communication prescrite à partir d'une seconde mémoire (148) qui stocke des paramètres de traitement et de réglage de calcul prescrits correspondant à des normes de communication prescrites, et les stockant dans la première mémoire (210) ; un processus de lecture d'informations d'entrée à partir de la première mémoire (210) ; et un processus d'écriture d'informations obtenues par le traitement de calcul dans la première mémoire (210) en tant qu'informations de sortie. Le second cœur (230) exécute un processus de lecture consistant à lire les paramètres de réglage à partir de la première mémoire (210), un processus de réalisation d'une communication externe dans laquelle les paramètres de réglage lus dans le processus de lecture sont utilisés, un processus d'écriture d'informations reçues dans le processus de communication dans la première mémoire (210) en tant qu'informations d'entrée, et un processus de lecture d'informations de sortie à partir de la première mémoire (210) pour une transmission dans le processus de communication.
PCT/JP2023/034620 2022-10-03 2023-09-25 Processeur et système de commande le comprenant WO2024075556A1 (fr)

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2018132829A (ja) * 2017-02-13 2018-08-23 オムロン株式会社 制御装置
JP2022522152A (ja) * 2019-02-27 2022-04-14 ヴェオ ロボティクス， インコーポレイテッド 安全用途のためのシステムアーキテクチャ

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2018132829A (ja) * 2017-02-13 2018-08-23 オムロン株式会社 制御装置
JP2022522152A (ja) * 2019-02-27 2022-04-14 ヴェオ ロボティクス， インコーポレイテッド 安全用途のためのシステムアーキテクチャ

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