CN105519050B

CN105519050B - Control system and relay

Info

Publication number: CN105519050B
Application number: CN201580001548.0A
Authority: CN
Inventors: 藤田史彦; 坂上浩; 坂上浩一
Original assignee: Fuji Electric Co Ltd
Current assignee: Fuji Electric Co Ltd
Priority date: 2015-02-12
Filing date: 2015-02-12
Publication date: 2018-09-04
Anticipated expiration: 2035-02-12
Also published as: CN105519050A; KR101815202B1; TWI674488B; KR20160110346A; WO2016129075A1; TW201640243A

Abstract

In the control system for making control device and data transfer path dual, even if be transferred to control device data volume increase if can not to the operation of control device script execution generate obstacle and do not incur job family/standby system switch speed reduce and carry out monitoring data etc. values.Each control device of job family and standby system is attached using the first equal values cable, and waits values cable to be connected with each other each network equipment of job family and standby system using second.So that each network equipment is transmitted the monitoring data received from IO from device to the control device of connection destination, and each network equipment is made to determine whether values cable can be waited to be communicated via second.If the communication can be carried out, then each network equipment is set to carry out the equal values of monitoring data by the communication via the second equal values cable, if the communication cannot be carried out, each network equipment is set to carry out the equal values of monitoring data by the communication via the first equal values cable.

Description

Control system and relay

Technical field

The present invention relates to a kind of control systems and its relay of the control device including job family and standby system.

Background technology

In the industrial plants such as factory, various workshops, it is built with the communication system for being referred to as control system mostly with to each Kind operation is controlled.Control system includes control device, which collects from the sensing being set in industrial plants The monitoring data of device, the drive control of motor etc. is carried out according to the result of the collection.As this control device, use DCS(Distributed Control System：Dcs), programmable logic controller (PLC) (Programmable Logic Controller).In the following, the device that motor etc. is become to the control object of control device is known as, " control object fills Set ", the device and control object device that will become the object of control device collection monitoring data as the sensor claim For " IO from device ".IO is connect from device with the network or universal serial bus for being referred to as I/O network.Control device is via relay It waits network equipments and is connect with I/O network.As an example of the relay, gateway apparatus can be enumerated.In addition, in the following, can Programmed logic controller is expressed as " PLC ".In general FA (Factory Automation：Factory automation) it will in system PLC be used as control device the case where it is more, in the shop equipment for requiring high reliability by DCS be used as control device the case where it is more. This is because DCS reliabilities for PLC are high.

In this control system, in general, in order to avoid causing to stop work because of the failure of control device etc., controlled The dual of the dual of device processed and the data transfer path of monitoring data.The dual of control device refers to：Setting two Control device makes one side as job family device to be acted, and makes another party as standby system's device to act.This Two control devices collect monitoring data respectively, using collected monitoring data or use collected monitoring number According to past operation result, to carry out the defined operation controlled for equipment.Work system control device carries out being based on the fortune The control of result is calculated, standby system control device is for guarding against work system control device to stop.Then, it is wanted in work system control device When stopping or when having stopped, standby system control device is acted as job family device, continues equipment control. This, the concrete example stopped about work system control device, it is contemplated that the inexpectancy because caused by occurring certain failure, undesirable condition Stopping and the stopping preplaned etc. that is carried out by maintenance etc..Standby system control device is for guarding against both to stop Both sides only.The dual of data transfer path refers to：Such as it will be from IO from device to by a side of the control device of dual Data transfer path and from IO from device to by another party of the control device of dual data transfer path difference it is only On the spot it is arranged.In the following, the control system of this two sides dual of control device and data transfer path will be made to be known as, " redundant controls System ".

Figure 18 is the figure for the configuration example for indicating redundancy networked control systems.System shown in Figure 18 is following control system： The monitoring data exported from IO such as the various sensors being set in industrial plants from device S1~Sn are collected, based on these monitoring Data or use the monitoring data and past operation result, to carry out defined operation, according to the result of the operation come into The job control of row motor etc..In addition, n is 2 or more natural number.There is the control system control device 10A and control to fill Set this two control devices of 10B and network equipment 20A and network equipment 20B this two network equipments.It is shown in Figure 18 In system, a side in control device 10A and control device 10B becomes job family device, and another party prevents as standby system's device Standby job family device stops.It is connected on control device 10A and control device 10B and is filled for carrying out control device 10A and control Set the monitoring system 50 of the monitoring of working condition of 10B etc..In addition, control device 10A via network equipment 20A and and I/O network 30A connections, control device 10B are connect via network equipment 20B with I/O network 30B.IO from device S1~Sn respectively with IO nets This two side of network 30A and I/O network 30B connects.

In the system shown in Figure 18, control device 10A and control device 10B connect each other by equal values cable 40 It connects, can respectively carry out the Stateful Inspection of another party.As previously mentioned, standby system control device is for guarding against job family control dress The planned stopping etc. such as unexpected stopping or maintenance caused by failure etc. set, below to stop due to failure In case of illustrate.Control device 10A and control device 10B will indicate the shape of fault-free, the i.e. present apparatus respectively The status data of state is sent to another party via equal values cable 40.For example, in the feelings that control device 10A is job family device Under condition, the control device 10B as standby system's device is with reference to via the state for waiting values cable 40 to be sent from control device 10A Data, to monitor that the failure in control device 10A occurs.Then, control device 10B works as receives from via equal values cable 40 Status data when detecting that control device 10A breaks down, hereafter proceed by the action as job family device.Another party Face, control device 10A are used as by the communication carried out via equal values cable 40 to detect that control device 10B has been proceeded by Hereafter the action of job family device is acted as standby system's device.

In redundancy networked control systems, even if work system control device can be by carrying out job family/wait for if break down Machine system switching come continue from IO from device S1~Sn collect respectively data, according to the result of the collection come carry out operation and It is controlled according to the result of the operation.But if only carrying out the switching of job family/standby system, it some times happens that The undesirable conditions such as above-mentioned operation result mutation before and after the switching.This is because, being separately sent to control from IO from device S1~Sn Device 10A may not be identical with the monitoring data of control device 10B.

In order to avoid this undesirable condition occurs, in redundancy networked control systems, each control device is generally made to execute from IO Be separately sent to from device S1~Sn the equal values of the monitoring data of each control device, operation result etc. from values etc Reason.The equal values of monitoring data refer to：It is sent to standby system control device by work system control device by equal values cable 40 The monitoring data received via network equipment are received by standby system control device via network using the monitoring data to cover The monitoring data arrived.In addition, the equal values of operation result refer to：By equal values cable 40 table is sent to standby system control device The data for showing the operation result in job family device utilize the data to cover the operation result in standby system's device.As this Kind with redundancy networked control systems and an example of the related conventional art of values is waited, patent document 1,2 institute of patent document can be enumerated Disclosed technology.

Patent document 1：Japanese Unexamined Patent Publication 2013-12094 bulletins

Patent document 2：Japanese Unexamined Patent Publication 2013-152631 bulletins

Invention content

Problems to be solved by the invention

In recent years, as the IO included by control system is from the data in the diversification of device, the increase of quantity, I/O network The raising of transmission speed, per unit time in be sent to control device via network equipment the data volumes of monitoring data substantially increase Add.If the monitoring data that control device is received via network equipment data volume increase, for these monitoring data etc. The processing load of value processing is got higher, to which there are following situations：It is difficult to the effect to control device script, is used for equipment control The execution of the operation of system, equipment corresponding with the result of operation control distribute enough resources.In addition, in recent years, it is desirable to Demand as multiple network equipments is connected on one control device to get higher, still, if being connected to the network on control device The quantity increase of device then leads to the problem of same.Also, if control device receives per unit time via network equipment The data volumes of interior monitoring data increases, then there is also can not promptly be carried out when job family device breaks down job family/ Switching this problem of standby system.This is because, as previously mentioned, if not complete for by control device via net After the equal values for the monitoring data that network device receives, then it can not work while avoiding operation result from mutating The switching of system/standby system.

The present invention is completed in view of problem described above, and its purpose is to provide a kind of following technologies：In redundancy In networked control systems, even if can not be to control if increase via the data volume of the monitoring data of network transmission to each control device The execution of the operation of device script processed generates any obstacle and does not incur the switch speed reduction of job family/standby system and carry out Monitor the equal values of data.

The solution to the problem

To solve the above-mentioned problems, the present invention is provided with first control device below and second control device and the The control system of one relay and the second relay, be used as from one be connected on first network and the second network or The control system that multiple equipment is collected monitoring data and controlled based on the monitoring data.First control device and second Control device is connected via communication unit between control device.Communication unit is, for example, equal values cable between control device, to the Communication between one control device and second control device carries out reconciling (Japanese between two parties：Zhong Jie).First control device and second A side in control device carries out the control as job family device, and another party becomes standby system's device.In first After the concrete example of device and the second relay, network equipment above-mentioned can be enumerated.First relay and the first control fill It sets and first network connects, the second relay and second control device and the second network connection.First relay and second Relay is connected to communication unit between relay.Communication unit is, for example, to wait values cable between relay, in first It is reconciled between two parties after the communication between device and the second relay.First relay and the second relay have judgement The judging unit that can be communicated via communication unit between relay.First relay and the second relay difference The monitoring data received from one or more equipment are transmitted to the control device of connection destination, also, single by judging Member is determined as in the case of capable of communicating, and the equivalence of monitoring data is carried out by the communication via communication unit between relay Change.In contrast, in the case where being judged to communicate by judging unit, the first relay and the second relay are logical Cross the equal values that monitoring data are carried out via the communication of communication unit between control device.

In the control system of the present invention, the monitoring number of first control device and second control device is sent to from each equipment According to equal values carried out by the first relay and the second relay.Thus, even if the data volume of monitoring data increases Add, first control device and the respective processing load of second control device will not be kept excessive due to the equal values of monitoring data Get higher, first control device and second control device respectively in above-mentioned operation execution on not will produce any obstacle.Separately Outside, first control device and second control device are provided respectively and is carried out by the first relay and the second relay The data of equal values.Therefore, the side in making first control device and second control device plays as job family device Function makes another party be functioned as standby system's device and carries out job family/standby system because job family device stops Switching in the case of, without waiting for the equal values completion for monitoring data, can promptly carry out cutting for job family/standby system It changes.

In the previous redundancy networked control systems shown in Figure 18, when occurring control device 10A and control device 10B phases When the cut-out of the equal values cable 40 to connect, it can become can not to carry out the equal values of monitoring data completely.In contrast, at this In the control system of invention, the communication unit reconciled between two parties the data communication of the equal values for monitoring data passes through control Between device processed between communication unit and relay communication unit and by dual, as long as therefore can be led to via either one Letter, it will be able to carry out to no any problem the equal values of monitoring data.In addition it is also possible to which first control device and second is made to control Device executes following processing：Determine whether to be communicated via communication unit between control device, if it is possible to communicate, then It indicates there is trouble-free status data in the present apparatus to transmit and receive via communication unit between control device, thus monitors another party There is fault-free, if cannot communicate, transmits and receives status data via communication unit between relay, thus monitor another There is fault-free in side.In addition, the control system relay that includes of the present invention between, i.e. by via communication unit relay The relay of the first relay communicated and the second relay composition can also be more to being not limited to one It is a.Specifically, it is contemplated that mode below：With multiple first relays and multiple second relays, multiple Multiple first networks of the one relay equipment different from being connected separately with are separately connected, and are distinguished with first control device Connection, multiple second relay and are connected with the more of above-mentioned each equipment respectively with multiple first relays each other in right A second network is separately connected, and is separately connected with second control device, multiple first relays and multiple second relayings It is communicated via communication unit between relay between relay paired with each other in device.

Here, equal values as the monitoring data carried out using the communication via communication unit between relay is specific Implementation method, it is contemplated that various modes.It is contemplated that mode below：From the side in the first relay and the second relay Monitoring data are sent to another party, so that the relay execution of the another party is utilized and is received via communication unit between relay Monitoring data cover the processing of the monitoring data received via network, that is, execute the monitoring data using the former to set Change the processing of the monitoring data of the latter.For example, from the relay of a side being connect with work system control device to another party's Relay sends monitoring data, and the relay of the another party is made to utilize via communication unit between relay or control device Between the communication unit monitoring data that receive cover the monitoring data received via network.

In addition, in other preferred embodiments, it is contemplated that following manner：Divide in the first relay and the second relay First processing units and second processing unit below is not set.First processing units will be received from the network of connection destination Monitoring data transmission to another party relay.It is described in more detail, is being judged to lead to by above-mentioned judging unit In the case of letter, the relaying that monitoring data are transferred to another party by first processing units via communication unit between relay fills It sets, in the case where being judged to communicate, first processing units will monitor that data are sent via communication unit between control device To the relay of another party.Second processing unit is confirmed whether the monitoring number that can be received with the relay from another party According to the equipment of transmission source communicated, in the case where that cannot communicate, for the monitoring number that should be received originally from the equipment According to being supplied using the monitoring data received from the relay of another party.In previous redundancy networked control systems, In the case where failure has occurred to the network that is connected of relay of work system control device transmission monitoring data or In the case that failure has occurred in IO hosts for each equipment to be connected to the network, it is also desirable to carry out job family/standby system Switching.It in contrast, can without carrying out the switching of job family/standby system because of the failure of above-mentioned network etc. according to the method Reduce the occurrence frequency of the switching of job family/standby system.About this point, the 4th embodiment through the invention is come specifically It is bright.

In preferred mode, third net is connected in either one in the first relay and the second relay Network.Moreover, the relay with third network connection collects monitoring data from the equipment being connected on the third network, will be received The monitoring data transmission collected and is transferred to the relay of another party to make its progress to the control device of connection destination Equal values.It can be deposited if the network for connecting non-dual on the relay of previous redundancy networked control systems shown in Figure 18 In various problems, this connection type can not be easily used, this is defined in the explanation of third embodiment of the present invention Its details.In contrast, according to the method, the network of non-dual can be easily connected on this relay.

In addition, in other preferred embodiments, it is characterized in that, first relay and second relay have Measure the load cell for the processing load that the control device of connection destination is undertaken, first relay and described Second relay is defined threshold value or more in the processing load measured by load cell and is sentenced by judging unit It is set in the case of capable of communicating, the equal values of monitoring data is carried out by the communication via communication unit between relay, The equal values of monitoring data are carried out by the communication via communication unit between control device in other cases.According to this side Formula can will be used to monitor while the processing load that dispersion first control device and second control device are respectively undertaken The data of the equal values of data communicate dual.

In addition, to solve the above-mentioned problems, communication interface part below and control unit is arranged in the present invention in relay, Wherein, the relay and a side control as job family device, another party becomes the first control of standby system's device Device is connected with the side in second control device, and sends the first of the one or more equipment for monitoring data with being connected with The monitoring data sent from one or more of equipment are transmitted in network connection to the control device of connection destination.Communication connects Oral area is connect via communication unit between relay with other relays.Other relays with connect there are one or it is more The second network and first control device of a equipment are connected with another party in second control device.Control unit is, for example, CPU (Central Processing Unit：Central processing unit).The control unit execute relay process below, determination processing with And values is waited to handle.Relay process is following processing：To the transmission of the control device of connection destination via first network from one The monitoring data that a or multiple equipment receives.Determination processing is following processing：Can judgement communicate via between relay Unit is communicated.Moreover, waiting the processing that values processing is following：The case where being judged to communicate by determination processing Under, the communication for making the values such as the monitoring data is carried out via communication unit between relay, on the other hand, is being determined as In the case of cannot communicating, the communication for making the values such as the monitoring data is carried out via communication unit between control device. In redundancy networked control systems, by will be to relay that control device and data transmission route are attached, i.e. shown in Figure 18 System example in network equipment 20A and network equipment 20B be replaced into the present invention relay, the existing redundancy can be made Networked control systems are functioned as the control system of the present invention.

In addition, as the other manner for solving the above problems, it is contemplated that offer makes the general computer conduct such as CPU Above-mentioned relay and the mode of program functioned.This is because, by making general computer be transported according to this program Row can be such that the computer is functioned as the relay of the present invention.In addition, the specific provider as above procedure Formula, it is contemplated that following manner：It is downloaded the electrical communication lines such as via internet come by way of distributing；It is written to CD-ROM (Compact Disk-Read Only Memory：Compact disc read-only memory), the record that can read of the computers such as flash ROM The mode distributed in medium.

The effect of invention

As discussed above, according to the present invention, in redundancy networked control systems, even if via network transmission to respectively The data volume of the monitoring data of control device increases, and also can not generate any barrier to the execution of the operation of control device script Hinder and do not incur job family/standby system switch speed reduce and carry out monitoring data etc. values.

Description of the drawings

Fig. 1 be indicate include the present invention relay an example network equipment 200 communication system 1A, i.e. the present invention First embodiment communication system configuration example figure.

Fig. 2 is the figure for the configuration example for indicating the network equipment 200 included by communication system 1A.

Fig. 3 is to indicate the control unit 210 of the network equipment 200 according at the values such as relay and control program 2542 is performed Manage the flow chart of the flow of 2542b.

Fig. 4 is for illustrating that the control unit 210 of the network equipment 200 is performed action according to relay and control program 2542 Figure.

Fig. 5 is the figure of the effect for illustrating first embodiment.

Fig. 6 is the figure of the variation for illustrating first embodiment.

Fig. 7 is the figure of other variations for illustrating first embodiment.

Fig. 8 is the figure of the configuration example for the network equipment 200 ' for indicating second embodiment of the present invention.

Fig. 9 is to indicate to include the Sketch of the communication system of the network equipment 200 ' and the figure of action example.

Figure 10 is the figure for illustrating third embodiment of the present invention.

Figure 11 is the figure of the 4th embodiment for illustrating the present invention.

Figure 12 is the network equipment 200 for indicating the 4th embodiment " ' configuration example figure.

Figure 13 is for illustrating the network equipment 200 " ' control unit 210 according to relay and control program 2542 " ' execute Action figure.

Figure 14 is to indicate the control unit 210 according to relay and control program 2542 " ' it is performed equal values receiving area reason The flow chart of the flow of 2542b2.

Figure 15 is the figure of the effect for illustrating the 4th embodiment.

Figure 16 is the figure of the effect for illustrating the 4th embodiment.

Figure 17 is the figure of the variation for illustrating the 4th embodiment.

Figure 18 is the figure for the previous example for indicating control system.

Specific implementation mode

In the following, being explained with reference to embodiments of the present invention.

(A：First embodiment)

Fig. 1 is the figure of the configuration example for the communication system 1A for indicating the first embodiment of the present invention.

It is the control system being laid in industrial plants in the same manner as system shown in communication system 1A and earlier figures 18. In Fig. 1, a pair structural element identical with the structural element in Figure 18 is labelled with identical label.If Fig. 1 and Figure 18 is carried out Comparison is then clear that communication system 1A is different from redundancy networked control systems previous shown in Figure 18 at following three aspects. First, replace control device 10A and control device 10B with control device 100A and control device 100B.Second, there is net Network device 200A and network equipment 200B replaces network equipment 20A and network equipment 20B.Then, third, network equipment 200A It is connect by equal values cable 400 with network equipment 200B.

Network equipment 200A and network equipment 200B is an embodiment of the relay of the present invention respectively, waits values Communication unit cable 400 plays the role of the relay reconciled between two parties the communication between the relay. It is gateway apparatus in the same manner as network equipment 200A and network equipment 200B and network equipment 20A, network equipment 20B in Figure 18. In communication system 1A shown in Fig. 1, the monitoring data that are sent respectively from IO from device S1, S2 ... Sn via I/O network 30A and Network equipment 200A is transferred to control device 100A, and is transferred to control via I/O network 30B and network equipment 200B Device 100B.Control device 100A and control device 100B respectively in Figure 18 control device 10A and control device 10B it is same Ground is carried out operation, is used for using the monitoring data and past operation result collected from IO from device S1, S2 ... Sn The operation of equipment control, and store the result of the operation.Control device 100A and control device 100B is either PLC, also may be used To be DCS.

In communication system 1A shown in Fig. 1, the side in control device 100A and control device 100B becomes job family Device executes the control of miscellaneous equipment based on above-mentioned operation result, and another party becomes standby system's device, for guarding against job family to fill Set stopping.As previously mentioned, the stopping of job family device includes following two：Because caused by occurring certain failure, undesirable condition Unexpected stopping；And the stopping preplaned carried out by maintenance etc..Moreover, when job family device stops, Script is hereafter the control device of standby system's device is acted as job family device.In addition, about job family with it is standby The switching of system can be realized by method identical with previous redundancy networked control systems.

As previously mentioned, when carrying out the switching of job family/standby system, in order to avoid the mutation of operation result, need to carry out Monitor the equal values of data and the equal values of operation result.In the previous redundancy networked control systems shown in Figure 18, make control Device 10A and control device 10B carries out the equal values of monitoring data and the equal values of operation result.In the present embodiment, It is the equal values that operation result is executed by control device 100A and control device 100B, this point and in the past superfluous shown in Figure 18 Remaining networked control systems, which are compared, not to be changed.It is described in more detail, becomes work in control device 100A and control device 100B It is that a side of device carries out the fortune controlled for equipment using the monitoring data received from the network equipment of connection destination It calculates, by the data for the result for indicating the operation via the control device for waiting values cable 40 to be transferred to another party, to make operation knot The values such as fruit.That is, standby system control device covers the fortune in the present apparatus using the data received via equal values cable 40 Calculate the data of result.The difference of previous redundancy networked control systems shown in the communication system 1A and Figure 18 of present embodiment It is, network equipment 200A and network equipment 200B is made to carry out the equal values of monitoring data.In the following, this embodiment party is significantly presented It is illustrated centered on the network equipment 200A and network equipment 200B of the feature of formula.In addition, network equipment 200A and network Device 200B structures having the same, therefore below " network equipment is expressed as without being distinguished to the two 200”。

In the present embodiment, also there is the differentiation of job family and standby system for network equipment 200.It is described in more detail, Network equipment 200 is communicated with the control device of the connection destination of itself, judge connection destination control device whether For job family device.Then, if the control device of connection destination is job family device, network equipment 200 is used as work It is that network equipment is acted, whereas if the control device of connection destination is standby system's device, then network equipment 200 is made It is acted for standby system's network equipment.That is, in the present embodiment, in network equipment 200A and network equipment 200B Become job family device with the side that connect of work system control device, the side being connect with standby system control device is as standby It is device.Moreover, when the switching about job family/standby system of control device occurs, it is accompany the switching, is filled about network Set 200 also switch operating system and standby systems.In the present embodiment, illustrate to make the job family about network equipment 200/standby The switching of system accompany the case where switching of job family/standby system of control device, but can also be：By via etc. The transmitting and receiving for the status data that value cable 400 carries out monitors the state of another party, with job family about control device/ The switching of standby system independently, switches the job family about network equipment 200/standby system according to the result of the Stateful Inspection.

Fig. 2 is the block diagram for the configuration example for indicating network equipment 200.

As shown in Fig. 2, network equipment 200 includes control unit 210, the portion the first communication interface (hereinafter referred to as " I/F ") 220, the second portions communication I/F 230, the portions third communication I/F 240, storage part 250 and the data interaction between these structural elements The bus 260 reconciled between two parties.

Control unit 210 is, for example, CPU.Control unit 210 is by executing the relay and control program 2542 stored in storage part 250 It is used as the control axis of network equipment 200 and functions.It puts it more precisely, relay and control program 2542 is stored in non- In volatile storage portion 254.Non-volatile memories portion 254 is one in the multiple structural elements for constitute storage part 250.Rear Face clearly states the details that control unit 210 is performed processing according to relay and control program 2542.First communication I/F portions 220, the Two portions communication I/F 230 and the portions third communication I/F 240 are for example NIC (Network Interface Card respectively：Network connects Mouth card).The effect in these each portions communication I/F is as follows.

First portions communication I/F 220 are connect with I/O network.It is described in more detail, the first portions communication I/F of network equipment 200A 220 connect with I/O network 30A, and the first portions communication I/F 220 of network equipment 200B are connect with I/O network 30B.First communication I/F Portion 220 receives the data sent from the I/O network of connection destination and sends out data to the I/O network of connection destination.The One portions communication I/F 220 have the communication buffer for storing the data received from the I/O network of connection destination.In fig. 2, it saves The diagram of the communication buffer is omited.

Second portions communication I/F 230 are connect via communication line with control device.It is described in more detail, network equipment 200A The second communication I/F portions 230 connect with control device 100A, the second of network equipment 200B communicates the portions I/F 230 and control device 100B connections.Second communication I/F portions 230 receive the data sent from the control device of its connection destination and to connection mesh Ground control device send out data.Second portions communication I/F 230 have the number that storage is sent to the control device of connection destination According to communication buffer.In fig. 2, the diagram of the communication buffer is omitted.

The portions third communication I/F 240 have the port for the values cable such as connecting, and values cable 400 is waited to be connected to the end Mouthful.The portions third communication I/F 240 via equal values cable 400 and with the network equipment of another party carry out for monitor data etc. The communication of value.

As shown in Fig. 2, storage part 250 has volatile storage portion 252 and non-volatile memories portion 254.Volatile storage Portion 252 is, for example, RAM (Random Access Memory：Random access memory).Volatile storage portion 252 is used as being used for Execute the workspace of relay and control program 2542.It is transmitted to control device in addition, volatile storage portion 252 also acts as interim storage Monitoring data monitoring data buffer 2522 effect.Also, expression is preserved in volatile storage portion 252 has this easily The network equipment 200 of the property lost storage part 252 is to be acted as job family device or acted as standby system's device Work/standby mark.Non-volatile memories portion 254 is, for example, flash ROM.It has been pre-saved in non-volatile memories portion 254 Relay and control program 2542.

Control unit 210 with the connection of the power supply of network equipment 200 or be reset to opportunity come from non-volatile memories portion 254 to Volatile storage portion 252 reads relay and control program 2542, and starts to execute the program.In fig. 2, network equipment is omitted The diagram of 200 power supply.Control of the control unit 210 run according to relay and control program 2542 in addition to executing monitoring connection destination Other than the action state of device processed and processing according to the result of the monitoring to set work/standby mark, also execute at relaying It manages 2542a and values is waited to handle 2542b.It is bright in action example about relay process 2542a and the details for waiting values to handle 2542b Really explanation, summary are as follows.Equal values handle the processing that 2542b is following：Made by the communication via equal values cable 400 The values such as the monitoring data being collected into respectively from IO from device S1~Sn.Fig. 3 is the stream for the flow for indicating equal values processing 2542b Cheng Tu.It is clear that if with reference to Fig. 3, the process content of values processing 2542b is waited to be acted as job family device Situation and in the case of being acted as standby system's device it is different.The detailed of the process content of 2542b is handled about such value Feelings clearly state in the explanation of action example.Relay process 2542a is following processing：To be handled by equal values 2542b into The monitoring data transmission gone after waiting values communicates the control device that the portions I/F 230 are connect to second.

It is the structure of network equipment 200 above.

Then, the action of network equipment 200 is illustrated with reference to Fig. 3 and Fig. 4.In addition, in the action example illustrated below, if Control device 100A and network equipment 200A is job family device, and control device 100B and network equipment 200B are standby system's dresses It sets.In addition, in the action example illustrated below, illustrate each in action sart point in time network equipment 200A and network equipment 200B From monitoring data buffer 2522 be empty situation.

IO the output signal of input signal or sensor etc. is sampled respectively from device S1~Sn come generate respectively to The monitoring data that control device 100A and control device 100B are sent, and respectively the prison is sent to I/O network 30A and I/O network 30B Depending on data.Monitoring data of the IO transmitted by device S1~Sn have been endowed header (header), which includes to indicate the prison Indicate depending on the sending destination of data and the information of transmission source and uniquely the identifier etc. of the monitoring data.It is supervised as expression Depending on the concrete example of the information of the sending destination of data, mailing address, the node number of the equipment of sending destination can be enumerated.It closes It is also the same in the information of the transmission source of expression monitoring data.The monitoring data sent respectively from IO from device S1~Sn respectively via I/O network 30A and I/O network 30B and be sent separately network equipment 200A and network equipment 200B.In the following, will be transmitted to net The monitoring data of network device 200A are known as " monitoring data A ", and the monitoring data that will be transmitted to network equipment 200B are known as " monitoring number According to B ".It monitors data A and monitors the data that data B is substantially the same, but sometimes due to each monitoring data are sampled When the deviation of sampling timing and it is slightly different.

The first of network equipment 200A communicates the portions 220 I/F when receiving from the monitoring data that I/O network 30A is sent, The received monitoring data are written to the communication buffer in the first portions communication I/F 220.In network equipment 200B Similarly, the monitoring data received from I/O network 30B are written to the logical of the first portions communication I/F 220 of network equipment 200B Believe buffer.That is, in this action example, monitoring data A is stored in the first portions communication I/F 220 of network equipment 200A Interior communication buffer, monitoring data B are stored in the communication buffer in the first portions communication I/F 220 of network equipment 200B.

The control unit 210 of network equipment 200A is to monitor communication buffer that data are written in the first portions communication I/F 220 Device is opportunity, in other words to receive monitoring data as opportunity, to execute relay process from the I/O network 30A of connection destination 2542a.As shown in figure 4, in relay process 2542a, communication buffer of the control unit 210 out of first portions communication I/F 220 is read Go out to monitor data ((A) of Fig. 4：S100), the monitoring data ((A) of Fig. 4 is written to monitoring data buffer 2522：S110). Therefore, in this action example, monitoring data A is preserved in the monitoring data buffer 2522 of network equipment 200A.It is filled in network The processing (with reference to (B) of Fig. 4) for similarly executing S100 and S110 in 200B is set, is preserved in monitoring data buffer 2522 Monitor data B.In addition, when to the monitoring write-in monitoring data of data buffer 2522, control unit 210 is equivalent to indicating whether First value of the not equal values of traffic sign placement expression of change, the mark provided with first value is given to will after above-mentioned monitoring data The monitoring data are written to monitoring data buffer 2522.As the concrete example of first value, 0 can be enumerated.

In network equipment 200A, control unit 210 indicates that the monitoring data of the mark of not equal values are write to have been assigned It is opportunity to enter to monitoring data buffer 2522, and 2542b is handled the values such as to execute.As shown in figure 3, in equal values processing In 2542b, control unit 210 judges whether the present apparatus is acted (step SA100) as job family device first.Specifically It says, control unit 210 is with reference to the work preserved in volatile storage portion 252/standby mark, if the value of the mark is to indicate work It is the value of device, then is determined as that the present apparatus is acted as job family device.Then, if the judgement result of step SA100 For "Yes", then the processing of the execution step of control unit 210 SA110 is then controlled, whereas if the judgement result of step SA100 is "No" Portion 210 processed executes the later processing of step SA120.As previously mentioned, in this action example, network equipment 200A is filled as job family It sets and is acted.Therefore, in the equal values processing 2542b performed by the control unit 210 of network equipment 200A, step SA100 Judgement result be "Yes", execute the processing of step SA110.

In the judgement result of step SA100 in the step SA110 that is executed in the case of "Yes", control unit 210 is from monitoring Data buffer 2522 reads monitoring data ((A) of Fig. 4 for having been assigned the mark for indicating not wait values：S120), by the prison Network equipment ((A) of Fig. 4 of its connection destination is transferred to via the portions third communication I/F 240 depending on data：S130).Such as preceding institute It states, in the monitoring data buffer 2522 of network equipment 200A, as the monitoring for having been assigned the mark for indicating not wait values Data and preserve monitoring data A.Therefore, in this action example, via equal values cable 400 from network equipment 200A to network Device 200B transmission monitoring data A.

In network equipment 200B, control unit 210 by the portions third communication I/F 240 to be received via equal values cable 400 data sent are opportunity, and 2542b is handled the values such as to execute.Performed by the control unit 210 of network equipment 200B Also the judgement of aforementioned step SA100 is carried out in equal values processing 2542b.In this action example, network equipment 200B is used as and waits for Machine system device is acted, therefore the step of equal values processing 2542b performed by the control unit 210 of network equipment 200B The judgement result of SA100 is "No", executes the later processing of step SA120.In step SA120, control unit 210 is logical from third The portions letter I/F 240 obtain monitoring data ((B) of Fig. 4 received by the portions third communication I/F 240：S140), the prison is utilized Corresponding monitoring data ((B) of Fig. 4 preserved in monitoring data buffer 2522 is covered depending on data：S150), will be given to The mark of the monitoring data is rewritten as the second value for indicating to have waited values.Above-mentioned corresponding monitoring data refer to transmission source and pass through Monitoring data accessed by the S140 of (B) of Fig. 4 are identical and identifier and the prison accessed by the S140 by (B) of Fig. 4 The monitoring data consistent depending on data.In addition, the concrete example as above-mentioned second value, can enumerate 1.Network equipment 200B as a result, Monitoring data buffer 2522 in the monitoring data that preserve be updated to monitoring data A from monitoring data B.

The control unit 210 of network equipment 200B when completing the equal values of monitoring data by above-mentioned main points, via etc. Value cable 400 completes (Fig. 3 to values such as network equipment 200A notices：Step SA130).The control unit of network equipment 200A 210, to receive above-mentioned notice as opportunity, the mark for the monitoring data transmitted by the S130 of (A) of Fig. 4 are updated to Above-mentioned second value.More than progress action the result is that becoming following state：Network equipment 200A and network equipment 200B are respectively Monitoring data buffer 2522 in preserve monitoring data A, monitoring data A, which has been assigned, to be indicated to have waited the marks of values.

Mark of the control unit 210 of network equipment 200A to be assigned to the monitoring data preserved in monitoring data buffer 2522 It is opportunity that will, which is updated to the value for indicating wait values, to start relay process 2542a again, execute the S160 of (A) of Fig. 4 with It is managed everywhere in S170.In the processing of S160, control unit 210 has had been assigned expression etc. from the monitoring reading of data buffer 2522 The monitoring data of the mark of value.Then, in the processing of S170, control unit 210 writes the monitoring data read by S160 Enter the communication buffer to the second portions communication I/F 230.In network equipment 200B, also to have sent the notice that equal values are completed Start relay process 2542a again for opportunity, executes and managed everywhere in the S160 and S170 of (B) of Fig. 4.

The second portions communication I/F 230 of network equipment 200A are sent to the control device of its connection destination to be wanted by above-mentioned Neck is written to the monitoring data of communication buffer.The second portions communication I/F 230 of network equipment 200B similarly, are connected to it The control device of destination sends the monitoring data that communication buffer is written to by above-mentioned main points.Therefore, in this action example, Monitoring data A is sent from network equipment 200A to control device 100A, is also sent from network equipment 200B to control device 100B Monitor data A.In addition, compared with the transmitting and receiving of monitoring data, the transmission of above-mentioned notice can be carried out with sufficiently high speed Receive, thus network equipment 200A and network equipment 200B respectively in the update of above-mentioned mark can essentially synchronously execute, Reason is also essentially synchronously to execute everywhere in S160 and S170.Therefore, the monitoring from network equipment 200A to control device 100A The transmission and the transmission of the monitoring data A from from network equipment 200B to control device 100B of data A is almost synchronously to execute.

It is the action of present embodiment above.

In the previous redundancy networked control systems shown in Figure 18, make control device, i.e. control device 10A and control device 10B carries out the equal values of monitoring data, therefore there are the following problems：When monitoring that the data volume of data increases, values are waited with it Amount correspondingly, the processing load of control device is got higher, to script operation high speed execute on generate obstacle.Fig. 5 is The synoptic diagram of the communication system 1A of present embodiment.In the present embodiment, although the equal values of operation result are filled by control It sets 100A and control device 100B to execute by via the communication of the equal values cable 40 in Fig. 5, but monitors data Equal values are executed by via the communication of the equal values cable 400 in Fig. 5 by network equipment 200A and network equipment 200B 's.Therefore, even if because the IO being connected on I/O network causes from device increase etc. to control device 100A and control device The data volume increase of the monitoring data of 100B transmission, the processing load that control device 100A and control device 100B are undertaken is not yet The amount of meeting and its equal value is correspondingly got higher, and not will produce any obstacle in the execution of the operation of script.

Also, in the present embodiment, the monitoring data of values will be waited from network equipment via the communication line LA in Fig. 5 200A is transferred to control device 100A, the monitoring data of values will have been waited from network equipment 200B via the communication line LB in Fig. 5 It is transferred to control device 100B.Moreover, being realized based on monitoring data by the communication via the equal values cable 40 in Fig. 5 The equal values of operation result.The monitoring data of values have been waited to be transferred to control device 100A and control device 100B, therefore i.e. Make because work system control device stop due to carrying out the switching of job family/standby system in the case of, in control device without Equal values etc. data to be monitored are completed, but can be switched over immediately.That is, according to the present embodiment, it will not Incurring the switch speed of job family/standby system reduces.

Summarize to content described above, according to the present embodiment, provide a kind of control system, the control system from The one or more equipment being connected on first network and the second network collect monitoring data, are controlled based on the monitoring data System, the control system are characterized in that having：First control device and second control device, the first control device and second A side in control device controls as job family device, and another party becomes standby system's device；First relay, It is connect with first control device and first network；Second relay, with second control device and the second network connection；Control Communication unit between device reconciles the communication of first control device and second control device between two parties；And relay Between communication unit, the communication of the first relay and the second relay is reconciled between two parties, wherein the first relay The monitoring data received from one or more equipment are transmitted to the control device of connection destination respectively with the second relay, Also, carry out the communication for making the values such as the monitoring data, first control device and via communication unit between relay The side as job family device in two control devices uses the monitoring data received from the relay of connection destination The operation for control is carried out, which is transferred to via communication unit between control device as standby system's device Control device makes the values such as operation result.That is, in the present invention, in first control device and second control device It is carried out using the monitoring data received from the relay of connection destination for controlling as a side of job family device Operation, which is transferred to via communication unit between control device as the control device of standby system's device.Therefore, It can only make not including the values such as the operation result of monitoring data between control device.Postscript it, the present invention control fill The values such as operation result can only be made between setting.Therefore, according to the present embodiment, in redundancy networked control systems, even if transmission Data volume to the monitoring data of control device increases, and also can not generate any barrier to the execution of the operation of control device script Hinder and the switch speed for not incurring job family/standby system reduces.

In addition, in redundancy networked control systems previous shown in Figure 18, between job family device and standby system's device The control only reconciled between two parties as the communication between control device of the unit reconciled between two parties of data communication The equal values cable 40 of communication unit between device processed, therefore when the cut-out of values cable 40 such as occurring, job family can not be carried out Device is communicated with the data of standby system's device, and the communication being used in conjunction in mutual Stateful Inspection can not all carry out.Therefore, previous In redundancy networked control systems, have the following problems：When the cut-out of the values cables 40 such as generation, with regard to can not carry out job family The switching of device/standby system device can become when multiple failure that work system control device breaks down etc further occurs The control of equipment can not be carried out completely by obtaining.

In contrast, in the present embodiment, the data between job family device and standby system's device, which communicate, occupies Between the unit reconciled by equal values cable 40 and by equal values cable 400 by dual, therefore even if the values cable such as occur 40 cut-out will not become that the communication for mutual Stateful Inspection can not be carried out.For example, even if existing in equal values cable 40 It is marked in Fig. 6 in the case of being cut off at position shown in B, it also can be along Fig. 6 in the control system of present embodiment Path C1 shown in middle dotted arrow carries out the transmitting and receiving of status data.Specifically, can be as follows：Make control device 100A execute will indicate the present apparatus state status data via communication line LA, network equipment 200A, etc. values cable 400, Network equipment 200B and communication line LB is sent to the processing of control device 100B, makes control device 100B execution that will indicate this dress The status data for the state set via communication line LB, network equipment 200B, etc. values cable 400, network equipment 200A and logical Letter line LA is sent to the processing of control device 100A.

In addition, in the embodiment described above, being connected to a network equipment to a control device, but also may be used More network equipments are connected to a control device to be deformed into as shown in Figure 7.In system shown in Fig. 7, to one Control device is connected with two network equipments.This is because, in previous redundancy networked control systems, connected when to control device When multiple network equipments, the data volume for being transferred to the monitoring data of control device increases, to be happened at control device script The undesirable conditions such as the switch speed reduction of obstacle or job family/standby system are generated in the execution of operation, but in this embodiment party In formula, this undesirable condition will not occur.

In the case where connecting more network equipment 200 to a control device as shown in Figure 7, also by network equipment 200A and network equipment 200B is executed through these network equipments by the communication via equal values cable 400A respectively to control The equal values of the monitoring data of device 100A and control device 100B processed transmission, are led to by network equipment 200C and network equipment 200D It crosses and is executed through these network equipments respectively to control device 100A and control device via the communication of equal values cable 400B The equal values of the monitoring data of 100B transmission.Therefore, even if being transmitted due to connecting more network equipments to a control device Data volume to the monitoring data of control device increases, and the processing load of the control device will not wait the amount of values corresponding to it Ground is got higher.

(B：Second embodiment)

In the above-described first embodiment, it illustrates that network equipment 200A and network equipment 200B is made to pass through via equal values The case where equal values of the communication of cable 400 to carry out monitoring data.But it has the following problems in this fashion：Work as hair When the cut-out of values cable 400 such as raw, become can not to carry out the equal values of monitoring data.The network equipment of present embodiment 200A ' and network equipment 200B ' are for the purpose of solving the problems, such as this.The network equipment 200A ' and network equipment of present embodiment 200B ' determines whether via equal values cable 400 to come into row data communication, obtain can be into as row data communication It is communicated by the data via equal values cable 400 in the case of judgement result to carry out the equal values of monitoring data.With this phase It is right, obtain cannot be into the case of judging result as row data communication, network equipment 200A ' and network equipment 200B ' By via control device 100A, etc. the communication of values cable 40 and control device 100B carry out the equivalence of monitoring data Change.In the following, without being distinguished to network equipment 200A ' and network equipment 200B ', it is expressed as " network equipment 200′”。

Fig. 8 is the figure for the configuration example for indicating network equipment 200 '.It is clear that if being compared Fig. 8 with Fig. 2, network The structure of device 200 ' is different from the structure of network equipment 200 at following aspect：Relay and control program 2542 ' replaces relay and control Program 2542 and be stored in non-volatile memories portion 254.Relay and control program 2542 ' is that control unit 210 is made to execute relaying Handle 2542a, etc. values processing 2542b ' and determination processing 2542c program.Determination processing 2542c is following processing： Judgement can via communication unit between relay, the values cable 400 such as i.e. communicated.Equal values processing 2542b ' be as Under processing：In the case where being judged to communicate by determination processing 2542c, carried out via communication unit between relay On the other hand communication for making the values such as monitoring data in the case where being judged to communicate, is led to via between control device Letter unit, the values cable 40 such as i.e. carry out the communication.That is, the control unit 210 run according to relay and control program 2542 ' As values processing such as relay unit, the judging unit for executing determination processing 2542c and the execution for executing relay process 2542a The equal values unit of 2542b ' and function.

Fig. 9 is to indicate to include the Sketch of the control system of network equipment 200 ' and the figure of action example.In addition, in Fig. 9 In, network equipment is abbreviated as " NW devices ".In addition, in fig.9, in order to keep the feature of present embodiment clear, being explicitly illustrated Network equipment 200 ' has judging unit this point.Occur if values cable 400 is waited to mark in fig.9 at position shown in B Break, then network equipment 200A ' and network equipment 200B ' becomes that the communication via equal values cable 400 can not be carried out.In the feelings Under condition, network equipment 200A ' is with network equipment 200B ' progress along the data of communication path C2 shown in dotted arrow in Fig. 9 Communication carries out the equal values of monitoring data.It is described in more detail, the monitoring that network equipment 200A ' will be received from I/O network 30A Data along in order via communication line LA, control device 100A, etc. values cable 40, control device 100B and communication line LB Transmission path be sent to network equipment 200B '.The above-mentioned monitoring data of network equipment 200B ' receptions, using the monitoring data come Cover the corresponding monitoring data of the present apparatus, and the values completion notice such as foldback.In this way from the equivalence of network equipment 200B ' foldbacks Change completion notice in order pass through communication line LB, control device 100B, etc. values cable 40, control device 100A and communication line It is transferred to network equipment 200A ' after LA, monitors that the equal values of data are completed.

In the present embodiment, control device 100A and control device 100B for the data of equal values as just to leading to Believe the data transmission route reconciled between two parties and function, therefore compared with the situation in previous redundancy networked control systems, The processing load that these control devices are undertaken can be mitigated.As the concrete example of above-mentioned determination processing 2542c, can enumerate with Lower processing：Ping is sent to other side's device via equal values cable 400, being determined as if having response at the appointed time can Communication, is judged to communicate if not replying.In addition it is also possible to be, about control device 100A and control device The transmitting and receiving of status data between 100B, also according to transmission can be switched into row data communication via equal values cable 40 Path.Specifically, control device 100A and control device 100B can also be made to execute following processing respectively：If can be via Equal values cable 40 is into row data communication, then via control device status data of the values cable 40 to another party is waited, such as Fruit then cannot send shape via equal values cable 400 into row data communication via grade values cable 40 to the control device of another party State data.

It can also be following manner：About being the number for carrying out the equal values for monitoring data via equal values cable 400 According to communication or via etc. values cable 40 carry out for monitor data etc. values data communication switching, not according to It can switch over into row data communication via equal values cable 400, but be carried out according to the processing load of control device Switching.For example, it is also possible to which the control unit of each network equipment of job family and standby system is made to execute following processing：Make network equipment 200 ' measure the processing load of the control device of its connection destination, are less than defined threshold value in measured processing load In the case of, by each control device via job family and standby system and wait the data of values cable 40 to communicate to be monitored The equal values of data, in the case where the processing load of control device is defined threshold value or more, by via equal values cable 400 data communicate to carry out the equal values of monitoring data.Here, the specific measurement side of the processing load as control device Method, it is contemplated that following manner：Make network equipment 200 execute to obtain in expression control device from the control device of connection destination The processing of the data of CPU usage, memory utilization rate etc..Also, the number via equal values cable 400 can also be used simultaneously According to communication possibility whether and control device processing load come switch monitoring data transmission path.Specifically, can be with It is as follows：Control device processing load be defined threshold value more than and be determined as can via etc. values cable 400 led to In the case of letter, by carrying out the equal values of monitoring data via the communication of equal values cable 400, in other cases, i.e. Though the processing load of control device be less than defined threshold value the case where or processing load be defined threshold value more than not In the case of capable of being communicated via equal values cable 400, by carrying out monitoring data via communication of values cable 40 is waited Equal values.

In addition, it is also possible to consider：For the transmission source as monitoring data each IO from device, it is pre-determined about be Control device side carry out the equal values of monitoring data still relay side, i.e. network equipment side monitor data etc. The allocation model of value, by processing load related with the equal values of monitoring data control device and network equipment it Between.E.g. following situations：For the monitoring data sent from IO from device S1, in the values such as control device side carries out, for The monitoring data sent from IO from device S2, in the values such as network equipment side carries out.In this regard, can be as follows：Make control device 100A and 100B and network equipment 200A ' and 200B ' prestore allocation model table, in the allocation model table, with each IO The which side indicated in control device side and network equipment side is correspondingly preserved from the mailing address of device to be monitored The mark of the equal values of data.Then, make network equipment 200A ' and 200B ' to being determined in relay in the allocation table The values such as the monitoring data for the values such as side carries out carry out, make control device 100A and 100B to being decided to be in the allocation table The values such as the monitoring data for the values such as control device side carries out carry out.Alternatively, it is also possible to according to the processing load of control device come Prepare multiple above-mentioned allocation tables, is set as following preservation content：Table corresponding with high processing load, then in relay The monitoring data for the values such as side carries out are more.

(C：Third embodiment)

Figure 10 is the figure of the configuration example for the communication system 1C for indicating third embodiment of the present invention.

Communication system 1C is also the control system being laid in industrial plants.In Fig. 10, pair with the element phase in Fig. 1 Same element is labelled with identical label.It is clear that if being compared Figure 10 with Fig. 1, communication system 1C is at following three Aspect is different from communication system 1A.First, control device 100A ' and control device 100B ' are provided with to replace control device 100A and control device 100B.Second, network equipment 200A " and network equipment 200B " is provided with to replace network equipment 200A With network equipment 200B.Then, third is connected with I/O network 30C on network equipment 200A ".

IO is connected on I/O network 30C from device S1 '~Sn '.I/O network 30C is to IO from device S1 '~Sn ' and network Data communication between device 200A " is reconciled between two parties.As previously mentioned, being sent out to control device transmission from IO from device S1~Sn The network for the data sent by I/O network 30A and I/O network 30B by dual, but for control device transmission from IO from The network of the data of device S1 '~Sn ' transmissions is not carried out this dual.That is, network equipment 200A " and dual Network and non-dual network connection.In the following, the network of non-dual is known as " single network (single network) ".

Network equipment 200A " fills I/O network 30A and control in the same manner as the network equipment 200A in first embodiment The communication of the data between 100A ' is set to be relayed.Network equipment 200B " is also same with the network equipment 200B in first embodiment Sample data between I/O network 30B and control device 100B ' communicate and relay.In addition, network equipment 200A " and network Device 200B " in second embodiment network equipment 200A ' and network equipment 200B ' in the same manner as, by via equal values The data of cable 400 communicate to carry out the equal values of monitoring data.But network equipment 200A " and network equipment 200B " with Lower aspect is different from network equipment 200：It is that job family device or standby system's device are unrelated with the control device of connection destination Ground carries out the switching of job family/standby system by mutual Stateful Inspection.

In addition to this, network equipment 200A " and network equipment 200B " is to the monitoring data that are received from I/O network 30C Carry out processing identical with above-mentioned grade values.That is, the control unit of network equipment 200A " is filled via equal values cable 400 to network It sets 200B " and sends the monitoring data received from I/O network 30C, the monitoring data are written the control unit of network equipment 200B " To monitoring data buffer.Then, network equipment 200A " and the network equipment 200B " control to respective connection destination respectively Device processed sends the monitoring data sent from I/O network 30C.

Control device 100A ' and control device 100B ' to receive the data sent from IO from device S1~Sn as opportunity, It is controlled to execute the first operation carried out using the data and equipment corresponding with the operation result of first operation.Except this with Outside, work system control device uses the data to receive from IO from the data of device S1 '~Sn ' transmissions as opportunity to execute The second operation carried out.It is collected that is, the work system control device in present embodiment has both from IO from device S1~Sn Data carry out the effect of the first operation and carry out the effect of the second operation from IO from device S1 '~Sn ' collections data.

If the network in redundancy networked control systems via dual can be made to collect data from device from IO and carry out The control device of certain operation has both via single network collection data and executes the effect of other operations, then is not necessarily to dual net The system of network and the system of single network are separately built, it can be expected that the exploitation operation cost of system can be reduced, but It is to be difficult to respond this expectation in previous redundancy networked control systems.Its reason is as follows.

For example, setting single network is connected on network equipment 20A only in figure 18.In this case, from network equipment 20A The data received from single network and the data received from the network of dual are provided to control device 10A, on the other hand, The data received from the network of dual are only provided from network equipment 20B to control device 10B.Control device is arrived when providing The data of 10A and control device 10B there are it is inconsistent when, can also be determined as mistake sometimes in redundancy networked control systems, at this In kind system, connection type as described above can not be just used originally.

In addition, even if it is as described above it is inconsistent will not be judged as mistake in the case of, there is also following problems：When When the switching of job family/standby system occurs due to failure of work system control device etc. in connection type as described above, Reception data from single network will not be provided to the work system control device after switching, to continue to collect from single net Data that network is sent and operation using the data can not be continued.That is, even if can be to previous redundancy One side of the control device of the dual included by networked control systems, which provides, to be made via the data of single network as defined in its progress Operation can not also ensure that stablizing for operation executes.

In contrast, according to the present embodiment, even if the switching of job family/standby system about control device occurs It will continue to the work system control device after switching and the monitoring data received from single network be provided, so as to unquestionably Continue to collect the monitoring data and carries out operation using the data.For example, even if in communication system 1C shown in Fig. 10 Job family device is switched to control device 100B ' from control device 100A ', and network equipment 200A " is still job family relaying dress It sets, network equipment 200B " is still standby system's relay.Therefore, the monitoring number sent respectively from IO from device S1 '~Sn ' According to by I/O network 30C, → network equipment 200A " → waits values 400 → network equipment of cable 200B " → control device 100B ' Situation be transferred to control device 100B '.That is, according to the present embodiment, can make to pass through in redundancy networked control systems It is had both from IO from the control device that device collects data and carries out certain operation via single network collection number by the network of dual According to and execute the effects of other operations, and the system of the system of dual network and single network is separately built Situation is compared, and the exploitation operation cost of system can be reduced.In addition, making cutting for the job family about network equipment/standby system In the case of changing the switching for accompanying the job family about control device/standby system, as long as the network with single network connection is made to fill It sets and executes processing below：No matter whether the network equipment be job family device, will all be received via the list network Monitor that data via communication unit is transferred to the network equipment of another party between communication unit or control device between relay, make it Carry out the equal values of the monitoring data.

(D：4th embodiment)

Figure 11 is the figure of the configuration example for the communication system 1D for indicating the 4th embodiment of the present invention.

Communication system 1D is also the control system being laid in industrial plants.In fig. 11, pair with the element phase in Fig. 1 Same element is labelled with identical label.Illustrate in fig. 11 IO connect from device S1~S3 with I/O network 30A and 30B it is detailed Thin connection type, this point are different from Fig. 1.As shown in figure 11, IO from device Sn (n=1~3) respectively via IO hosts MAn and It connect with I/O network 30A, and is connect respectively with I/O network 30B via IO hosts MBn.In addition, in fig. 11, IO hosts are simple It is denoted as " IOM ".The IO monitoring data exported from device Sn are passed out to I/O network 30A by IO hosts MAn.IO hosts MBn is by IO The monitoring data exported from device Sn pass out to I/O network 30B.In addition, in Fig. 1, IO is omitted from the detailed of device S1~Sn The diagram of thin connection type is identical as the mode in Figure 11.

It is clear that if being compared Figure 11 with Fig. 1, communication system 1D is at following aspect and first embodiment Communication system 1A is different：Network equipment 200A " ' and network equipment 200B " ' is provided with to replace network equipment 200A and network to fill Set 200B.The network equipment 200A " ' and network equipment 200B " ' of present embodiment is also that a side is as the progress of job family device Action, another party act as standby system's device.In the present embodiment, in the same manner as first embodiment above-mentioned, The side being connect with work system control device 100 in network equipment 200A " ' and network equipment 200B " ' is as job family device It is acted.In the following, in the same manner as the explanation about first embodiment, without to network equipment 200A " ' and network equipment In the case that 200B " ' is distinguished, " network equipment 200 " ' " is expressed as.

In the previous redundancy networked control systems shown in Figure 18, the feelings of certain failure have occurred in work system control device Certainly the switching that progress job family/standby system is needed under condition, in the IO being connect with work system control device via network equipment Network, the IO hosts that IO is connected to the I/O network from device be also required in the case of certain failure has occurred carry out job family/ The switching of standby system.This is because, if above-mentioned I/O network, IO hosts break down, via the I/O network or IO hosts Monitoring data can not reach work system control device.In contrast, in the present embodiment, it is configured to：By making network equipment 200 " ' and the distinctive processing of present embodiment is executed, even if certain failure occurs for above-mentioned I/O network, IO hosts, without progress work The switching of work system/standby system just can continue to carry out the control of control object device, and the feature of present embodiment is this Point.In the following, the network equipment 200 of the feature of present embodiment is significantly presented in explanation " '.

Figure 12 is to indicate network equipment 200 " ' configuration example figure.In fig. 12, pair identical as the structural element in Fig. 2 Structural element be labelled with identical label.Be clear that if being compared Figure 12 with Fig. 2, network equipment 200 " ' knot Structure is different from the structure of network equipment 200 at following aspect：Relay and control program 2542 " ' substitution relay and control program 2542 and It is stored in non-volatile memories portion 254.Relay and control program 2542 " ' in the relaying of following aspect and first embodiment It is different to control program 2542：Make the values such as the execution of control unit 210 send processing 2542b1 and values receiving area waited to manage 2542b2 to come 2542b is handled instead of equal values.

Network equipment 200 " ' control unit 210 with network equipment 200 " ' power supply (illustration omitted) connection or be reset to Opportunity to read relay and control program 2542 from non-volatile memories portion 254 to volatile storage portion 252 " ', and start to execute and be somebody's turn to do Program.Figure 13 is for illustrating network equipment 200 " ' control unit 210 according to relay and control program 2542 " ' it is performed action Figure.In fig. 13, a pair processing identical with the processing in Fig. 4 is labelled with identical label.According to relay and control program 2542 " control unit 210 of ' operation is in the same manner as the control unit 210 in first embodiment above-mentioned, to monitor that data are written into It is opportunity, i.e. to receive monitoring number from the I/O network 30 of connection destination to the communication buffer in the first portions communication I/F 220 According to for opportunity, to execute relay process 2542a.As previously mentioned, in relay process 2542a, control unit 210 communicates I/ from first Communication buffer in the portions F 220 reads monitoring data (Figure 13：S100), the monitoring number is written to monitoring data buffer 2522 According to (Figure 13：S110).In addition, when to the monitoring write-in monitoring data of data buffer 2522, imparting is not provided with expression not etc. After the mark of first value of value, which is written to monitoring data buffer 2522, this point is also implemented with first Mode is identical.

It is clear that if being compared Figure 13 with Fig. 4, waits values to send processing 2542b1 and managed with values receiving area is waited The values such as the combination of 2542b2 corresponds to handle 2542b.The execution opportunity of equal values processing 2542b in first embodiment exists It is different in job family network equipment and standby system's network equipment.For example, in job family device, indicate not equivalent to have been assigned The monitoring data of the mark of change are written to monitoring data buffer 2522 and handle 2542b for opportunity the values such as to execute, and are waiting for In machine system device, the values such as executes to receive monitoring data as opportunity via equal values cable 400 and handle 2542b.With this Relatively, values is waited to send the execution opportunity for handling 2542b1 in job family network equipment and standby system's network equipment without not Together, wait the execution opportunity of values receiving area reason 2542b2 also without difference.

Be described in more detail, network equipment 200 " ' control unit 210 acted in spite of as job family device, All indicate that the monitoring data of the mark of not equal values are written to monitoring data buffer 2522 and are held for opportunity to have been assigned The values such as row send processing 2542b1.In equal values send processing 2542b1, control unit 210 is from monitoring data buffer 2522 Read the monitoring data (Figure 13 for having been assigned the mark for indicating not wait values：S120), the monitoring data are provided to third to lead to Believe 240 (Figure 13 of the portions I/F：S130), to be transferred to the network equipment of another party.Therefore, in the present embodiment, network equipment The 200A " ' monitoring data A received from I/O network 30A is transferred to network equipment 200B via equal values cable 400 " ', net The monitoring data B that network device 200B " ' is received from I/O network 30B is also transferred to network equipment via equal values cable 400 200A″′。

According to relay and control program 2542, " ' the control unit 210 run is with via equal net of the values cable 400 from another party Network device 200 " ' receive monitoring data and manage 2542b2 for opportunity the values receiving area such as to execute.Figure 14 is to indicate that equal values connect Receive the flow chart of the flow of processing 2542b2.As shown in figure 14, control unit 210 it is first determined whether can with via equal values line " IO of the transmission source of ' monitoring data received is communicated (step to network equipment 200 of the cable 400 from another party from device SB100).As the specific judgement side for determining whether to be communicated from device with the IO of the transmission source of above-mentioned monitoring data Method, it is contemplated that utilize the method for the prior art such as ping.

The judgement result of step SB100 for "No" in the case of, cannot communicate in the case of, control unit 210 utilize Via equal network equipment 200 of the values cable 400 from another party, " ' monitoring the data received, originally should be via this to supply The monitoring data of the reception of I/O network 30 of the connection destination of device, the prison for being sent to the control device 100 being connect with the present apparatus Depending on data (step SB110).Due to cannot be communicated from device with IO, the monitoring from device from the IO will not be received Data, step SB110 are the processing of the missing for supplementing the monitoring data.It is described in more detail, in step SB110, control Portion 210 processed is rewritten by the information of the expression sending destination in the header portion of the monitoring data received via equal values cable 400 To indicate the information for the control device 100 being connect with the present apparatus, the mark for being provided with the first value for indicating not wait values is assigned The monitoring data are written to monitoring data buffer 2522 afterwards.Then, control unit 210 will be written to prison by step SB110 Mark depending on the monitoring data of data buffer 2522 is updated to indicate to have waited the second values of values, and to the network of another party (step SB150) is completed in the values such as device notice, and the values receiving area such as completion manages 2542b2.In addition, walking as described above Suddenly, will not be to the network equipment 200 of another party in the case that the judgement result of SB100 is "No" " ' carry out via equal values cable The transmission of 400 monitoring data, as long as therefore being examined in the network equipment of the another party using receiving above-mentioned notice as opportunity The values such as survey are completed and update the mark of corresponding monitoring data.

In contrast, the judgement result of step SB100 for "Yes" in the case of, can communicate in the case of, control In the same manner as aforementioned step SA100, whether the judgement present apparatus is job family device (step SB120) in portion 210.In step The judgement result of SB120 for "Yes" in the case of, in the case that i.e. the present apparatus is job family device, control unit 210 will via etc. " ' monitoring the data received abandon (step SB130), and will be regarded as network equipment 200 of the value cable 400 from another party The equal values mark of monitoring data that is corresponding with the monitoring data and being written in monitoring data buffer 2522 is updated to second It is worth (step SB150), the values receiving area such as end manages 2542b2.Conversely, step SB120 judgement result for "No" the case where Under, in the case that i.e. the present apparatus is standby system's device, control unit 210 utilizes warp in the same manner as the processing of aforementioned step SA120 By equal network equipment 200 of the values cable 400 from another party, " ' monitoring the data received are considered as and the monitoring data to replace The monitoring data (step SB140) for corresponding to and being written in monitoring data buffer 2522 execute the place of step SB150 later Reason, the values receiving area such as end manage 2542b2.

Network equipment 200 above " ' structure.

Then, the case where being standby system's device by job family device, control device 100B of control device 100A, i.e. network Device 200A " ' be job family device, network equipment 200B " ' for standby system's device in case of illustrate present embodiment Action.If IO hosts MAn (n=1~3) and IO hosts MBn (n=1~3) is all soundly acted and I/O network 30A With I/O network 30B that the failures such as broken string do not occur, then the monitoring data An sent from IO from device Sn (n=1~3) is via IO Network 30A reaches network equipment 200A " ', and the monitoring data Bn sent from the IO from device Sn reaches network via I/O network 30B Device 200B " '.

As previously mentioned, in network equipment 200A " ' and network equipment 200B " ', respectively with via the first portions communication I/F 220 receive monitoring data executes relay process 2542a for opportunity.As a result, as shown in (A) of Figure 15, in network equipment Monitoring data An is preserved in the monitoring data buffer 2522 of 200A " ', in the monitoring data buffer of network equipment 200B " ' Monitoring data Bn is preserved in 2522.In addition, being written to monitoring data buffer 2522 with the monitoring data of not equal values as contract Machine, in network equipment 200 " ' it is middle execute etc. values send processing 2542b1.As a result, as shown in (A) of Figure 15, from network Device 200A " ' to network equipment 200B " ' via 400 transmission monitoring data An of equal values cable, from network equipment 200B " ' to Network equipment 200A " ' is via equal 400 transmission monitoring data Bn of values cable.

As previously mentioned, network equipment 200 " ' control unit 210 receiving monitoring via the portions third communication I/F 240 every time Equal values receiving area reason 2542b2 is carried out when data.Specifically, the control unit 210 of network equipment 200A " ' every time via The portions third communication I/F 240 are carried out when receiving monitoring data Bn waits values receiving area reason 2542b2.In this action example, IO Host MAn (n=1~3) is all soundly acted, and the failures such as broken string do not occur for I/O network 30A.Therefore, it is filled in network It sets in the equal values receiving area reason 2542b2 performed by the control unit 210 of 200A " ', the judgement result of step SB100 is "Yes", Execute the later processing of step SB120.Since network equipment 200A " ' is job family device, the judgement knot of step SB120 Fruit is "Yes", executes the processing of step SB130.That is, the prison that network equipment 200A " ' is received via the portions third communication I/F 240 It is all dropped depending on data Bn.

In network equipment 200B " ' similarly, monitoring data An is being received via the portions third communication I/F 240 every time When be carried out equal values receiving area reason 2542b2.Equal values receiving area performed by the control unit 210 of network equipment 200B " ' It manages in 2542b2, the judgement result of step SB100 is also "Yes", executes the later processing of step SB120.Due to network equipment 200B " ' is standby system's device, therefore the judgement result of step SB120 is "No", executes the processing of step SB140.That is, network The monitoring data Bn preserved in the monitoring data buffer 2522 of device 200B " ' is all replaced into via the portions third communication I/F The 240 monitoring data An (5 (B) referring to Fig.1) received from network equipment 200A " '.As a result, monitoring data An is via net Network device 200A " ' is transferred to control device 100A, and monitoring data An is also transferred into control dress via network equipment 200B " ' Set 100B.

In contrast, in the case where certain failure has occurred in IO host MA1 and IO hosts MB2, such as (A) institute of Figure 16 Show, should should be received originally by network equipment 200B " ' by the monitoring data A1 missings that network equipment 200A " ' is received originally Monitoring data B2 also lack.In addition, the NULL in (A) of Figure 16 indicates the missing of monitoring data.In this case, such as Figure 16 (A) shown in, from network equipment 200A " ' to network equipment 200B " ' via equal 400 transmission monitoring data A2 of values cable and A3, from network equipment 200B " ' to network equipment 200A " ' via equal values cable 400 transmission monitoring data B1 and B3.

It is held in network equipment 200A " ' to receive monitoring data B1 as opportunity via the portions third communication I/F 240 In capable equal values receiving area reason 2542b2, the judgement result of step SB100 is "No", executes the processing of step SB110.It is tied Fruit supplies the monitoring data that should be received originally by network equipment 200A " ' as shown in (B) of Figure 16 using monitoring data B1 A1.Similarly, come in network equipment 200B " ' as opportunity to receive monitoring data A2 via the portions third communication I/F 240 In the equal values receiving area reason 2542b2 of execution, the judgement result of step SB100 is also "No", executes the processing of step SB110. As a result, as shown in (B) of Figure 16, the monitoring that should be received originally by network equipment 200B " ' is supplied using monitoring data A2 Data B2.In this action example, monitoring data B1, monitoring data A2 and monitoring data of the data A3 as the values such as are monitored And it is transferred to control device 100A, monitoring data B1, monitoring data A2 and monitoring data A3 conducts from network equipment 200A " ' It has waited the monitoring data of values and has been transferred to control device 100B from network equipment 200B " '.In this action example, values have been waited Monitoring data be transferred to the control device 100A as work system control device from network equipment 200A " ', therefore can have no Continue to problem the control etc. of control object device.

In this way, according to the present embodiment, playing effect below：Even if controlling and filling with job family via network equipment Break down in some in setting the I/O network of connection or multiple IO hosts for being connect with the I/O network, without carry out about The switching of the job family of control device/standby system, so as to reduce cutting for the job family in redundancy networked control systems/standby system The occurrence frequency changed.Also, according to the present embodiment, play following effect：Even if having occurred via network equipment and and work Make the IO hosts that connect on the I/O network of system control device connection break down, via network equipment and with standby system control device The IO hosts connected on the I/O network of connection also break down in the case of such multiple failure, if these IO hosts not with Same I/O device connection, it will be able to which the control for continuing control object device can compared with first embodiment above-mentioned Further increase the ability for resisting multiple failure.In addition, in the present embodiment, making standby system's network equipment that will be connect from I/O network The whole monitoring data received are transferred to job family network equipment via the equal values cable 400 between network equipment, but also may be used Only to transmit the monitoring data lacked in job family device.About the prison made in standby system's network equipment detection job family device Depending on the method for the missing of data, it is contemplated that various methods.For example, can be as follows：From job family network equipment via network equipment Between equal values cable the identifiers of the monitoring data that the job family network equipment has received is sent to standby system's network equipment The list of information makes standby system's network equipment based on the list to detect the missing of the monitoring data in job family device.In addition, Can also be, by the stipulated time also not via network after standby system's network equipment receives monitoring data via I/O network In the case of equal values cable reception to data corresponding with the monitoring data between device, standby system's network equipment is made to be determined as Monitoring data in job family device lack.

In addition, IO from device S1~S3 include control object device in the case of, about from control device 100 send To control object device operational data, indicate the monitoring data based on the values such as operation result data transmission control System, can also have fault-free to be carried out similarly according to the IO hosts that the control object device is connected to I/O network 30.Such as In the case that IO in (B) of Figure 16 is individually control object device from device S1~S3, for IO from device S1, Ke Yiyan Control device 100A → network equipment 200A " ' → waits values 400 → network equipment of cable 200B ", ' → I/O network 30B is in this way Transmission path transmit operational data.It, can be along control device 100A → network similarly, for IO from device S2 and S3 Transmission path as device 200A " ' → I/O network 30A transmits operational data.

In addition to this, in the present embodiment, also by network equipment 200 " ' carry out the equal values of monitoring data, therefore Certainly effect below is played in the same manner as first embodiment above-mentioned：Even if being transferred to the number of the monitoring data of control device Increase according to amount, any obstacle can not be also generated to the execution of the operation of control device script and does not incur job family/standby system Switch speed reduce.

In the above-described embodiment, it illustrates the case where certain failure has occurred in IO hosts, and is had occurred in I/O network 30 In the case of the failures such as broken string or " ' the communication line being attached has occurred and breaks by I/O network 30 and network equipment 200 In the case of failure, supplied for the whole monitoring data progress that should be received originally via the I/O network 30 are above-mentioned, this is not Speech and explain.In addition, in the above-described embodiment, in network equipment 200 " ' on be only connected to the I/O network of a dual, but It is the I/O network that can also connect multiple duals as shown in Figure 17.For example, being instantiated in Figure 17 in network equipment 200 " ' Upper connection there are two dual I/O network the case where.

Generally in redundancy networked control systems, it is undesirable to from IO from device to the biography of the data of work system control device 100 The transmission path of defeated path or negative direction changes.Accordingly it is also possible to make network equipment 200 " ' control unit 210 execute It handles below：It will indicate to be determined as that the identification information for the transmission source that cannot be communicated is written to volatile storage by step SB100 The defined storage region in portion 252, thereafter for the monitoring number for carrying out the equipment that self-identification information is stored in the storage region According to, supplied or replaced using the monitoring data received via equal values cable 400 always, with the power-off of the present apparatus or Opportunity is reset to make above-mentioned storage region initialize.According to this mode, even if to IO master after above-mentioned supply etc. occurs Machine etc. places under repair and no longer supplies etc., until network equipment 200 " ' until be powered down or reset, from IO from device Transmission path to the data of work system control device 100 will not be switched to without the above-mentioned path supplied etc., can It avoids influencing caused by toggle path.

(E：Deformation)

First, second, third and the 4th embodiment of the present invention is explained above, but can also be to these implementations Mode imposes following deformation.

(1) in the above-described first embodiment, illustrate that the data using push (push) type communicate to realize monitoring number According to equal values the case where, the data communication of the push-type is as follows：Work from network equipment 200A and network equipment 200B It is that network equipment sends monitoring data via equal values cable 400 to standby system's network equipment and standby system's network equipment is made to deposit Store up the monitoring data.But it is also possible to be communicated using the data for pulling (pull) type to realize the equal values of monitoring data, the drawing The data of type are taken to communicate as follows：Standby system's network equipment execution is set to be obtained from job family network equipment via equal values cable 400 Data are monitored to update the processing of the monitoring data of the present apparatus.Other embodiment is also the same.

It (2) can also be combined by above-mentioned second embodiment and third embodiment.Specifically, network can be made to fill It sets 200A " and network equipment 200B " and executes following processing respectively：Judgement can via equal values cable 400 into row data communication, If can into row data communication if via equal values cable 400 send monitoring data to the network equipment of another party, if Into row data communication then via equal values cable 40 monitoring data cannot be sent to the network equipment of another party.Similarly, Can be combined by second embodiment and the 4th embodiment, furthermore it is also possible to by second, third and the 4th embodiment It is combined.

(3) in the respective embodiments described above, it illustrates to apply the present invention to receive to control device transmission from IO from device The application examples of the gateway apparatus of the monitoring data collected.But application of the invention is not limited to gateway apparatus, also may be used To be in other types such as router (Router), repeater (Repeater), switch hub (Switching Hub) After device.Also, the network of present invention connect with relay be not limited to the controls such as I/O network be network, it is serial always Line can also be to communicate the general information system network reconciled between two parties to following the data of the common communication protocols such as TCP.Always It, can apply the present invention as long as following relay：The relay collects monitoring data, is connected to and uses the prison The control device of operation is executed depending on data, and is connected to the network being connect with the equipment of output monitoring data, it will be via the net The data transmission that network receives is to the control device.

(4) can also be with monomer come provide network equipment included by the communication system of the respective embodiments described above, i.e. in After the mode of device, that is, can also be the mode of manufacture/sale relay monomer.This is because, can be filled with this network It sets to replace the network equipment in previous redundancy networked control systems, is filled these networks using equal values cable between relay Interconnection is set, previous redundancy networked control systems is thus made to be functioned as the communication system of the respective embodiments described above.

(5) in the respective embodiments described above, the relay process that the feature of the present invention is significantly presented is realized by software It (is that equal values transmission handles 2542b1 and equal values receiving area reason in the fourth embodiment that 2542a and equal values, which handle 2542b, 2542b2).But it is also possible to the values such as execute the relay unit of relay process 2542a and execute using circuit to respectively constitute The equal values unit for handling 2542b, these circuits are combined to constitute above-mentioned first embodiment~third embodiment Network equipment.Network equipment 200 about the 4th embodiment " ' also the same.In addition, in the above-described embodiment, the values such as general Cable is used as communication unit between relay, but can also the wireless communication units such as wireless LAN interfaces be used as relay Between communication unit.In addition, in the case where network equipment 200A and network equipment 200B are installed on a shell, it can also be by two The bus that a device is connected is used as communication unit between relay.It is also the same about communication unit between control device.

(6) in the respective embodiments described above, control device 100A and control device 100B or control device are illustrated 100A ' and control device 100B ' respective either job family device or standby system's device are all used via connection destination The monitoring data that network equipment receives are come the case where carrying out the operation controlled for equipment, that is, illustrate to apply the present invention In the control system of stand-by heat (hot standby) mode the case where.But application of the invention be not limited to it is hot standby With the control system of mode, the control system of warm standby (warm standby) mode can also be applied the present invention to.Warm standby With the control system of mode a side of the control device of dual execute as job family device above-mentioned operation, another party at For standby system's device come guard against job family device break down this aspect it is identical as the control system of warm standby mode, but It is different in terms of this that above-mentioned operation is not executed in standby system control device.In addition, in above-mentioned first~third embodiment, In standby system's network equipment, also executes and the monitoring data received by the first portions communication I/F 220 are written to monitoring data Processing ((B) of Fig. 4 of buffer 2522：Managed everywhere in S100 and S110), but can also be saved in standby system's network equipment The slightly processing.This is because, being managed everywhere in the S100 and S110 of (B) of Fig. 4 by being monitored the write-in of data buffer 2522 Monitoring data step SA120 that 2542b is handled in equal values processing in can be capped.

Reference sign

1A、1C、1D：Communication system；10A、10B、100A、100B、100A′、100B′：Control device；20A、20B、 200A、200B、200A′、200B′、200A″、200B″、200A″′、200B″′：Relay；210：Control unit；220：First Communicate the portions I/F；230：Second portions communication I/F；240：The portions third communication I/F；250：Storage part；252：Volatile storage portion； 2522：Monitor data buffer；254：Non-volatile memories portion；2542、2542′、2542″′：Relay and control program；2542a： Relay process；2542b：Equal values processing；260：Bus；30A、30B、30C：I/O network；40、400、400A、400B：Equal values Cable；50：Monitoring system；S1~Sn, S1 '~Sn '：IO is from device.

Claims

1. a kind of control system collects monitoring data from the one or more equipment being connected on first network and the second network, It is controlled based on the monitoring data, which is characterized in that having：

First control device and second control device, the side in the first control device and second control device become job family Device and carry out the control, another party become standby system's device；

First relay is connect with the first control device and the first network；

Second relay, with the second control device and second network connection；

Communication unit between relay adjusts the communication of first relay and second relay between two parties Solution；And

Communication unit between control device adjusts the communication of the first control device and the second control device between two parties Solution,

Wherein, first relay and second relay have judging unit, and can judging unit judgement through It is communicated by communication unit between the relay,

First relay and second relay are transmitted to the control device of connection destination from described one respectively The monitoring data that a or multiple equipment receives, also, in the case where being judged to communicate by the judging unit, institute It states the first relay and second relay is supervised by the communication via communication unit between the relay Depending on the equal values of data, on the other hand, in the case where being judged to communicate by the judging unit, first relaying Device and second relay by the communication via communication unit between the control device come carry out monitoring data etc. Value,

Side's use as job family device in the first control device and the second control device is from connection purpose Monitoring data that the relay on ground receives carry out the control.

2. control system according to claim 1, which is characterized in that

A side in first relay and second relay executes and will be received from the network of connection destination Monitoring data transmission to another party relay processing, be used as the processing for making the values such as monitoring data,

The following processing of another party's execution in first relay and second relay, which is used as, makes monitoring data The processing of equal values：It is corresponding using the monitoring data being considered as with the network from connection destination receives and from the party After the monitoring data that device receives, come to the monitoring data received from the network of connection destination into line replacement.

3. control system according to claim 1 or 2, which is characterized in that

The first control device and the second control device determine whether can be via communication unit between the control device It is communicated,

Be determined as can be via communication unit between the control device come in the case of communication, via the control device Between communication unit come transmit and receive indicate the present apparatus in have trouble-free status data, thus monitor another party have fault-free,

It cannot be communicated via communication unit between the control device being determined as and be determined as by the judging unit In the case of capable of being communicated via communication unit between the relay, come via communication unit between the relay The status data is transmitted and received, thus monitors that another party has fault-free.

4. control system according to claim 1, which is characterized in that

First relay and second relay receive the monitoring data sent respectively from multiple equipment,

The control system is directed to each equipment in the multiple equipment, and pre-determined carried out from the equipment in relay side The equal values of the monitoring data of transmission still control device side carry out the monitoring data sent from the equipment etc. values,

First relay and second relay carry out equivalent in the progress of relay side from being decided to be respectively The equal values for the monitoring data that the equipment of change receives,

The first control device and the second control device carry out receiving via the relay of connection destination respectively Monitoring data in, from be decided to be monitoring data that the equipment for the values such as carrying out in control device side is sent etc. values.

5. control system according to claim 1, which is characterized in that

First relay and second relay are respectively provided with：

First processing units fill the relaying of the monitoring data transmission received from the network of connection destination to another party It sets；And

Second processing unit determines whether the transmission source for the monitoring data that can be received with the relay from another party Equipment is communicated, for the monitoring data that should be received originally from the equipment that is judged to communicate, using from the another party The relay monitoring data that receive supplied.

6. control system according to claim 5, which is characterized in that

The second processing unit makes storage device store the identification information that expression is determined as the equipment that cannot be communicated, for identification Information is stored in the equipment in the storage device, is utilized the benefit of the monitoring data received from the relay of another party Foot or displacement, on the other hand, with the power-off of the present apparatus or being reset to opportunity makes the storage content of the storage device initialize.

7. control system according to claim 1, which is characterized in that

First relay and second relay have load cell, which measures connection The processing load that the control device of destination is undertaken,

First relay and second relay are born in the processing measured by the load cell respectively Lotus is defined threshold value or more and is determined as in the case of capable of communicating by the judging unit, by via the relaying The communication of communication unit carries out the equal values of monitoring data between device, in other cases by via between the control device The communication of communication unit carries out the equal values of monitoring data.

8. control system according to claim 1, which is characterized in that

First relay and second relay have load cell, which measures connection The processing load that the control device of destination is undertaken, also,

Gao Ze, which is got over, with the processing load of the first control device and the second control device carries out equivalence in relay side The more mode of the monitoring data of change determines a variety of about being to carry out monitoring number in relay side according to the processing load According to equal values still control device side carry out monitoring data etc. values allocation model,

First relay and second relay respectively with the processing measured by the load cell The equal values in the monitoring data for the values such as relay side carries out are decided to be under the corresponding allocation model of load,

The first control device and the second control device are respectively in the corresponding allocation model of processing load with the present apparatus The lower equal values being decided to be in the monitoring data for the values such as control device side carries out.

9. control system according to claim 1, which is characterized in that

It is connected with third network in either one in first relay and second relay,

Monitoring data are collected from the equipment being connected on the third network with the relay of the third network connection, by institute The monitoring data transmission being collected into is to the control device being connect with the present apparatus and the relay for being transferred to another party.

10. control system according to claim 1, which is characterized in that

With multiple first relays and described second by being communicated via communication unit between the relay The relay pair of relay composition.

11. a kind of relay, and it is connected between control device in the first control device and second control device of communication unit Side connection, and connect with the first network of one or more equipment for sending monitoring data is connected with, to connecting purpose The control device on ground transmits the monitoring data sent from one or more of equipment, wherein the first control device and second A side in control device controls as job family device, and another party becomes standby system's device, the spy of the relay Sign is have：

Communication interface part is connected to the relay reconciled between two parties with the communication of other relays the relay Between communication unit, other relays are and the second network for being connected with one or more of equipment and first control The relay that device is connected with another party in the second control device；And

Control unit executes relay process, determination processing and values is waited to handle, in the relay process, to connection destination Control device transmit the monitoring data that are received from one or more of equipment via the first network, at the judgement In reason, can judgement be communicated via communication unit between the relay, in such value processing, by described Determination processing is determined as in the case of capable of communicating, and is carried out via communication unit between the relay for making the monitoring number According to the communication of equal values, on the other hand, in the case where being judged to communicate, come via communication unit between the control device Carry out the communication for making the values such as the monitoring data.