JPH0810872B2 - Node controller for serial controller - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention is applied to a centralized management system for various machines such as presses, machine tools, construction machines, ships, and aircraft, and an unmanned transportation apparatus, centralized management system for unmanned warehouses, etc. And a preferred serial control device, particularly in a serial control device in which a main controller and a plurality of nodes are connected in series in a closed loop, and one or a plurality of sensors and actuators are connected to each node. The present invention relates to a node allocation control device of a serial control device capable of suitably adding and deleting.

[Conventional technology]

When centrally managing presses, machine tools, construction machines, ships, aircraft, unmanned conveyors, unmanned warehouses, etc., many sensors that detect the status of each part of the equipment and many actuators that control the status of each part of the equipment are required. . The number of sensors and actuators is 30 when considering a press, for example.
There may be more than 00, and even more in other devices.

Conventionally, as a centralized management system for centrally managing this type of device, a plurality of nodes are connected in series, one or more sensors and actuators are connected to each node, and these nodes are connected in a ring via a main controller. A configuration has been considered in which each node is controlled by a signal from the main controller.

If you take the configuration of connecting the nodes in series like this,
The issue is how to ensure the simultaneity of output of each sensor and the simultaneity of control of each actuator. For example, considering a configuration in which an address is assigned to each node and each node is controlled based on this address, a time delay for this address processing becomes a problem, and the collection of the output of each sensor and the control of each actuator should be satisfied. Synchrony cannot be ensured.

Therefore, the inventors have abandoned the idea of assigning an address to each node while adopting a configuration in which nodes are connected in series, and each node is identified by the order of connection, thereby making address processing unnecessary. At the same time, we have proposed a serial control device that eliminates the time delay associated with address processing and that allows the node configuration to be greatly simplified.

 This device is constructed as shown in FIG.

This serial control device is applied to a centralized control system of a press, and a host controller 200 controls and controls each part of the press. Main controller 100
Is for controlling data exchange with a plurality of connected nodes 10-1 to 10-N. Sensor group 1-1, 1-2, ... 1-
N is arranged in each part of the press and detects the state of each part of the press. Actuator group 2-1, 2-2, ... 2
-N is arranged in each part of the press and drives each part of the press. The sensor group 1-N and the actuator group 2-N are connected to the nodes 10-N (N = 1 to N), respectively. These nodes 10-1 to 10-N and the main controller 100 are connected in series in a loop.

FIG. 4 shows a frame structure of a data signal used in the system when the number N of nodes is 5, and this data frame signal is used by the main controller 100.
From the node 10-1, 10-2, ... 10-N and then returned to the main controller 100. In addition,
FIG. 4A shows the data frame signal immediately after being output from the main controller 100, as shown in FIGS.
(D) and (e) are nodes 10-1, 10-2, 10-3, 10-.
4 shows the data frame signal output from the node 4, and FIG. 4F shows the signal output from the node 10-5 (the signal fed back to the main controller 100 when N = 5).

The contents of each signal in the frame structure of FIG. 4 are as follows.

STI; First start code indicating the start position of input data (sensor data) DI; Input data (sensor data) DIq; Input data from the sensor connected to the qth node STO; Output data (actuator drive) Data) 2nd start code DO; Output data (actuator drive data) DOq; Output data to the actuator connected to the qth node SP; Stop code ERR; In each node 10-1 to 10-N shown in FIG. 3, including the error content and the code indicating the error position, the error check code such as CRC for checking the communication error, the code indicating the disconnection and the step line position, As shown in FIGS. 4 (b) to (f), the detection data DIq of the sensor 1 connected to the node between the start code STI and the start code STO. And the output data DOq to the actuator 2 connected to the node is extracted after the start code STO.

Therefore, in this system, the main controller
If a data frame signal including actuator control data DO as shown in FIG. 4 (a) is transmitted from 100 to the node 10-1, this data frame signal is transmitted to the node 10-
1 → node 10-2 → node 10-3 → node 10-4 → 10−
By sequentially propagating to 5, the actuator control data DO in the data frame signal is assigned to the corresponding node, and the detection data of the sensor group obtained at each node is taken into the same data frame signal. As a result, the data frame signal is transferred to the main controller 10
When it is returned to 0, as shown in FIG. 4 (f),
All the actuator control data DO disappears, and the detection data of the sensor group is included in the same frame signal.

As described above, according to this device, the node identification numbers are assigned to the respective nodes in the order in which the data frame signal is propagated from the main controller 100. For this reason, according to this apparatus, when a node is newly added or deleted, there is a problem that the node number assigned to each node is changed from the number assigned first.

That is, FIG. 5 shows a case where the actuator outputs A1 to A24 are connected in 8-bit units to a system in which three nodes I, II, and III are connected, and the node numbers are I, II, and III in order from the left. It is assumed that actuator outputs A25 to A32, 8 bits are added to this system, and node IV is installed between node I and node II as shown in FIG. 6 due to the mounting position. At this time, the user inputs and sets the additional data A25 to A32 in the data allocation table of the press controller 200 as shown in Table 1 below.

The setting contents of the data allocation table of the host controller 200 are sent to the main controller 100, and are set in the transmission data table of the main controller 100 as shown in Table 2 below.

[Problems to be Solved by the Invention] The main controller 100 refers to the table for transmission data to generate the data DO1 to DO4 in the data frame signal by arranging them in ascending order of addresses. According to the technique, the data frame signal S0 as shown in FIG. 7 (a) is transmitted from the main controller 100, and DO1, DO2, DO3, DO4 are sequentially extracted at the nodes I, IV, II, III. become. Therefore, in this case, correct data is input to the node I, but data to be input to other nodes is input to the nodes IV, II, and III. That is, in this case, by adding the node IV, the node II is substantially changed to the node III, the node III is changed to the node IV, and the node IV is changed to the node II. If this happens, the terminal address seen from the main controller side will change, and the user will have to take very troublesome steps such as rewriting the terminal address description of the user program each time a node is added or deleted. .

The present invention has been made in view of such circumstances, and provides a node allocation control device of a serial control device that can perform correct data transmission only by performing a simple process when adding or deleting a node. The purpose is to

[Means for solving the problem]

According to the present invention, nodes connecting one to a plurality of sensors and one to a plurality of actuators are connected in series, and the plurality of nodes are connected in a closed loop including a controller, and the controller outputs the output data to the actuator. A data frame signal including the data frame signal, each node adds data from a sensor connected to the node to the data frame signal, and extracts output data to an actuator connected to the node from the data frame signal. In the serial controller, the first data table means for inputting and setting the output data to the actuator of each node to each node in association with the node number, and the installation sequence indicating the installation sequence from the controller of each node Input settings for each node by associating numbers with node numbers Second data table means, and the output data to the actuators of the respective nodes are rearranged in the order of the node installation order numbers based on the setting contents of the first and second data table means, and the rearranged nodes are arranged. And a data rearranging means for making the output data to the actuator of (1) as the output data string to the actuator in the data frame signal, to the controller.

[Action]

The operator can set new data for the node,
When adding or deleting a node, the output data of the actuator is input and set for each node in the first data table means in association with the node number, and the second data table means is input from the controller of each node. The installation order number indicating the installation order of is associated with the node number and input and set for each node. The data rearranging means rearranges the output data to the actuators of the respective nodes in the order of installation order numbers of the nodes based on the setting contents of the first and second data table means, and outputs the rearranged output data to the actuators of the respective nodes. The output data is the output data string to the actuator in the data frame signal.

〔Example〕

An embodiment of the present invention will be described in detail below with reference to the accompanying drawings.

FIG. 1 shows an embodiment of the present invention. The host controller 200 has a data allocation table (first data table means) 30. As shown in Table 1 above, the data allocation table 30 is a memory for the operator to input and set the transmission data (actuator data) for each node. As shown in, the required transmission data is entered in the corresponding node number field. This node number is a number recognized by the operator. The setting data of the data allocation table 30 is input to the transmission data allocation unit 50 of the main controller 100.

The main controller 100 has a node number conversion table 4
It has 0, a transmission data allocation unit 50, a transmission data memory 60, and a data frame forming unit 70, and is a configuration in which a node number conversion table 40 is newly added.

The node number conversion table (second data table means) 40 is a memory for the operator to input and set the order in which the nodes are installed, as shown in Table 3 below. As shown, data indicating the installation order of the nodes is entered in the corresponding node number field. That is, it can be said that the conversion table 40 is, to put it another way, the number indicating the order of data transmission from the main controller 100 to each node is input and set for each node. Table 3 below is a concrete example of adding the node IV to the system shown in FIG. 5 as shown in FIG.

The transmission data allocating unit (data rearranging means) 50 forms the transmission data to be transmitted to each node based on the setting contents of the data allocation table 30 and the node number conversion table 40. That is, in the transmission data allocating unit 50, as shown in Table 4 below, the transmission data and the installation order data are associated with each other by using the node numbers in the above Tables 1 and 2 as the intermediate medium parameters. A table is formed and data is written in the transmission data memory 60 according to the contents of the table.

In this case, the data address in Table 4 above corresponds to the data position in the data frame signal, and AD1, AD2,
Data is inserted after the STO code in the order of AD3, AD4, ....

When the data is written in the transmission data memory 60 in this way, the data frame forming unit 70
Data is read from 60, and STI code, STO code, SP code, ERR code and the like are added before and after these data to form a data frame signal as shown in FIG. 2 (a).

Such a data frame signal is then sent out on the data line, so that DO1,
DO4, DO2, DO3 will be taken out of order. Therefore, as shown in FIGS. 2B to 2D, correct data desired by the operator is input to each of the nodes I, II, III and IV.

As described above, according to this embodiment, even if nodes are added or deleted and the arrangement order of the nodes is changed, it is possible to correct the data by simply rewriting the data indicating the installation order of the nodes in the node number conversion table 40. Will be assigned to each node.

It should be noted that, in the embodiment, for simplification of description, only the actuator is connected to each node, but the present invention can be applied to a system including a node to which a sensor is also connected. .

[Effects of the Invention] As described above, according to the present invention, the number indicating the data transmission order from the controller to each node is input and set for each node.
Even if deleted, correct data can be easily assigned to each node.

[Brief description of drawings]

1 is a block diagram showing an embodiment of the present invention, and FIG. 2 is a diagram showing a data frame signal propagation mode according to the embodiment,
FIG. 3 is a block diagram showing the overall configuration of the serial control device, FIG. 4 is a diagram showing a propagation mode of a data frame signal, and FIGS. 5 to 7 are diagrams used for explaining inconveniences of the prior art. . 1 ... Sensor group, 2 ... Actuator group, 10 ... Node, 30
... Data allocation table, 40 ... Node number conversion table, 50 ... Transmission data allocation section, 100 ... Main controller, 200 ... Host controller

Claims (1)

[Claims] 1. A node in which one or more sensors and one or more actuators are connected in series, and the plurality of nodes are connected in a closed loop including a controller, and the controller outputs data to the actuator. And each node adds data from a sensor connected to the node to the data frame signal and extracts output data to an actuator connected to the node from the data frame signal. In the serial control device, the first data table means for inputting and setting the output data to the actuator of each node to each node in association with the node number, and the installation indicating the installation order from the controller of each node Input sequence setting for each node by associating the sequence number with the node number Second data table means, and the output data to the actuators of the respective nodes are rearranged in the order of the node installation sequence numbers based on the setting contents of the first and second data table means, and the rearranged nodes are arranged. And a data rearranging means for making the output data to the actuator as an output data string to the actuator in the data frame signal, and the node allocation control device of the serial control device.