JP4499233B2 - Distributed control system - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a distributed control system including a host control device and a plurality of load control devices.
[0002]
[Prior art]
In a conventional distributed control system, system control is performed by a method such as that disclosed in JP-A-10-3311.
[0003]
FIG. 5 shows a configuration example of a conventional distributed control system. In this distributed control system, one host controller 501 is connected to a plurality of servo controllers 510 via a serial communication line 500.
[0004]
The host control device 501 includes an arithmetic control unit 502 and a communication control device 503, and controls the entire system.
[0005]
Each servo controller 510 includes an arithmetic control unit 511, a communication control device 513, and a servo amplifier 512, and drives a servo motor 514.
[0006]
The arithmetic control unit 502 of the host control device 501 transmits a position command to each servo controller 510 via the communication control device 503.
[0007]
Each servo controller 510 rotationally drives the servo motor 514 by the servo amplifier 512 in accordance with the position command received from the communication control device 513.
[0008]
[Problems to be solved by the invention]
However, in the conventional distributed control system described above, when any error occurs in each servo controller 510, an error process is performed or a specific process corresponding to the error content is performed according to a command from the host controller 501. When error processing is performed in response to a command from the host control device 501, the time from error occurrence to completion of error processing is longer and the burden on the host control device 501 is heavier than each servo controller 510 performs error processing independently. turn into.
[0009]
In addition, it is conceivable that error processing is performed independently for each servo controller 510, but in this case, it is necessary to prepare different error processing programs for each servo controller 510, and the error processing program becomes complicated. there were.
[0010]
The present invention has been made in view of the above circumstances, and can speed up error processing while reducing the processing of the host control device, and the same error processing in the actuator control device that is a plurality of load control devices. A distributed control system that can be used by a program is provided.
[0011]
[Means for Solving the Problems]
According to the first aspect of the present invention, an actuator control device that detects a certain error by connecting a host control device and a plurality of actuator control devices with a communication line, the error content is transmitted to other actuator control devices and host control devices. In the distributed control system configured to transmit to, each actuator control device includes a plurality of modules, and a plurality of error processing levels are preset for each of the plurality of modules corresponding to each error content and communication error. When an error content is received from another actuator control device or when a communication error occurs, error processing corresponding to an error processing level set in advance for the error is performed for each of a plurality of modules .
[0012]
According to the present invention, in a plurality of actuator control devices, when an error content is received from another actuator control device or a communication error, error processing corresponding to the error processing level set in advance for the error is performed for each of the plurality of modules. Since each is executed, it is possible to speed up error processing in each actuator control device while reducing processing of the host control device. In addition, it is possible to share the error processing contents in a plurality of actuator control devices and use the same error processing program, thereby simplifying the software .
[0017]
(Constitution)
FIG. 1 shows a configuration of a distributed control system according to a first embodiment of the present invention. This distributed control system includes a host controller 100 that controls the entire system, a communication line connected to the host controller 100, For example, it has actuator control devices 110 and 120 which are a plurality of load control devices connected via the serial communication line 10.
[0018]
The host control device 100 includes an arithmetic control unit 101, a memory 103 loaded with an error processing program, and a communication control device 102.
[0019]
The actuator control device 110 includes a control module 111 that includes a non-volatile memory 114, a communication control device 102 connected to the serial communication line 10, and a control module that drives and controls an actuator not shown in FIG. 113.
[0020]
The actuator control device 120 drives and controls an arithmetic control unit 111 including a non-volatile memory 114, a communication control device 102 connected to the serial communication line 10, and, for example, two actuators not shown in FIG. Control modules 113 and 115 are provided.
[0021]
In addition, individual ID numbers are set for the actuator control devices 110 and 120.
[0022]
(Function)
In the distributed control system of the first embodiment, the host control device 100 controls the entire system while communicating with the actuator control devices 110 and 120 via the serial communication line 10.
[0023]
In the memory 114 of the arithmetic control unit 111 of each actuator control device 110, 120, numbers representing the error processing levels of a plurality of patterns corresponding to the types of errors are assigned to the control modules 113, 115 in advance.
[0024]
The host control device 100 transmits to each actuator control device 110, 120 an error processing level for instructing which level of error processing is to be performed when an error occurs before starting the control. The actuator control devices 110 and 120 that have received the error processing level store the received error processing level in the memory 114.
[0025]
Each actuator control device 110, 120 controls an externally connected actuator by its own motor control module 113 or 115, and when an error occurs during actuator control, the host control device 100 and other actuator control An error code indicating the type of error is transmitted to the device 110 or 120.
[0026]
Each actuator control device 110 or 120 that has received the error code executes error processing corresponding to the error processing level stored in the memory 114. The same applies when a communication error occurs by the communication control apparatus 102.
[0027]
(effect)
According to the distributed control system of the first embodiment, by setting a plurality of error codes for each type and an error processing level for each type for each of the plurality of actuator control devices 110 and 120, when any error occurs. Error processing can be performed in each actuator control device 110 or 120 without a command from the host control device 100, and the error processing can be speeded up while reducing the burden on the host control device 100. In addition, the error processing program can be shared by the individual actuator control devices 110 and 120, and the software can be simplified.
[0028]
(Embodiment 2)
(Constitution)
FIG. 2 shows a distributed control system according to the second embodiment of the present invention. This distributed control system includes a host controller 300 that controls the entire system, and a serial communication line 30 connected to the host controller 300. And a plurality of actuator control devices 310 and 320 connected via each other.
[0029]
The host control device 300 includes a CPU 302, a calculation control unit 301 including a nonvolatile memory 303, and a communication control device 304 connected to the serial communication line 30.
[0030]
The actuator control device 310 includes a communication control device 304 connected to the serial communication line 30, a CPU 302, an arithmetic control unit 311 including a nonvolatile memory 303 that stores setting values of error processing levels and error processing programs, an I / O The module 313 is composed of two motor control modules 314 and 315.
[0031]
The actuator control device 320 includes a communication control device 304 connected to the serial communication line 30, a CPU 302, an arithmetic control unit 311 including a nonvolatile memory 303, an I / O module 321, a motor control module 322, D / A conversion module 323.
[0032]
FIG. 4 is an example of a plurality of error codes and error contents corresponding to each error code. FIG. 5 shows four levels of error processing levels of the motor control module, I / O module, and D / A conversion module, and each error. The error processing contents corresponding to the processing level are shown.
[0033]
(Function)
In the second embodiment, the host control device 300 performs overall control by communicating with the actuator control devices 310 and 320 through the serial communication line 30.
[0034]
Data transmission / reception by serial communication is performed by the communication control device 304, and the control unit 311 of each actuator control device 310, 320 performs control of the entire system or an externally connected actuator (or motor) (not shown).
[0035]
When there is an instruction from an input device (not shown), the host controller 300 sets an error processing level for each error code for each control module of each actuator controller 310, 320, and sets the setting data to the actuator controller 310, To 320.
[0036]
The actuator control devices 310 and 320 store the transmitted setting data in the non-volatile memory 303 in the device itself.
[0037]
For example, error processing level 2 is set for the I / 0 module 313 and the motor control modules 314 and 315 of the actuator control device 310, and the I / 0 module 321 and the motor control module 322 of the actuator control device 320 are set. In the following description, it is assumed that the error processing level 3 is set to the error code 2 (limit sensor detection) in the D / A conversion module 323.
[0038]
When the actuator control device 310 confirms that a limit sensor (not shown) is turned on while the motor is being driven by the motor control module 314, an error code 2, that is, a limit, is sent to the other actuator control device 320 and the host control device 300. Sends that a sensor detection state has occurred.
[0039]
The actuator control device 310 and the actuator control device 320 refer to the error processing level stored in the memory 303 in the own device and perform error processing by a corresponding error processing program.
[0040]
Here, since the error processing level 2 is set for all the modules of the actuator control device 310 as described above, the motor control module 314 and the motor control module 315 decelerate and stop the motor, and the I / 0 module. Reference numeral 313 turns on all the bits.
[0041]
On the other hand, since the error processing level 3 is set for the I / O module 321 and the motor control module 322 of the actuator control device 320, the motor control module 322 in the actuator control device 320 receives the given drive command. The motor is driven until completion, and the I / O module 321 holds the output.
[0042]
Further, since the error processing level 1 is set for the error code 2 (limit sensor detection) in the D / A conversion module 323, the D / A conversion module 323 outputs the maximum value.
[0043]
(effect)
According to the second embodiment, an error processing level is set for each of a plurality of error codes and a plurality of control modules for a plurality of actuator control devices 310 and 320. Thus, error processing can be performed in each of the plurality of actuator control devices 310 and 320 without the above command, and the error processing can be speeded up while reducing the burden on the host control device 300. In addition, the error processing program can be shared by the individual actuator control devices 310 and 320, and the software can be simplified. Further, by storing the setting value of the error processing level in the nonvolatile memory 304, it is not necessary to transmit the setting value to the actuator control devices 310 and 320 every time the system is started.
[0044]
【The invention's effect】
According to the first aspect of the present invention, it is possible to set an error processing level for each error content for each control module of each actuator control device, and for each control module in advance when error information is received from other actuator control devices. By performing processing according to the set error processing level, it is possible to execute quick error processing while reducing the burden on the host control device, and to share the error processing program of each actuator control device Therefore, it is possible to provide a distributed control system capable of simplifying software .
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of a distributed control system according to a first embodiment of the present invention.
FIG. 2 is a block diagram showing a configuration of a distributed control system according to a second embodiment of the present invention.
FIG. 3 is an explanatory diagram showing error codes and error contents according to Embodiment 2 of the present invention.
FIG. 4 is an explanatory diagram showing error processing levels and details of error processing for each module in Embodiment 2 of the present invention;
FIG. 5 is a block diagram showing a configuration of a conventional distributed control system.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 10 Serial communication line 30 Serial communication line 100 Host control apparatus 101 Operation control part 102 Communication control apparatus 103 Memory 110 Actuator control apparatus 111 Operation control part 113 Control module 114 Memory 115 Control module 120 Actuator control apparatus 300 Host control apparatus 301 Operation control part 302 CPU
303 Memory 304 Communication Control Device 310 Actuator Control Device 311 Operation Control Unit 313 I / O Control Module 314 Motor Control Module 315 Motor Control Module 321 I / O Control Module 322 Motor Control Module 323 D / A Conversion Module

Claims (1)

A distributed controller is configured to connect the host controller and multiple actuator controllers via a communication line, and to detect the error, the actuator controller that transmits the error content to other actuator controllers and host controllers In the control system,
Each actuator control device includes a plurality of modules, and a plurality of error processing levels are set in advance for each error content and communication error for each of the plurality of modules, and when an error content is received from another actuator control device. Alternatively, when a communication error occurs, a distributed control system that performs error processing according to an error processing level set in advance with respect to the error for each of a plurality of modules.

Images