WO2017168723A1 - 通信装置、通信システムおよび通信方法 - Google Patents
通信装置、通信システムおよび通信方法 Download PDFInfo
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- WO2017168723A1 WO2017168723A1 PCT/JP2016/060817 JP2016060817W WO2017168723A1 WO 2017168723 A1 WO2017168723 A1 WO 2017168723A1 JP 2016060817 W JP2016060817 W JP 2016060817W WO 2017168723 A1 WO2017168723 A1 WO 2017168723A1
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- slave station
- station
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- communication
- controlled
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- 238000004891 communication Methods 0.000 title claims abstract description 120
- 238000000034 method Methods 0.000 title claims description 43
- 230000005540 biological transmission Effects 0.000 claims description 150
- 230000004044 response Effects 0.000 claims description 133
- 230000005856 abnormality Effects 0.000 claims description 7
- 125000004122 cyclic group Chemical group 0.000 description 146
- 230000008569 process Effects 0.000 description 33
- 230000007704 transition Effects 0.000 description 27
- 238000010586 diagram Methods 0.000 description 22
- 230000015654 memory Effects 0.000 description 17
- 230000002159 abnormal effect Effects 0.000 description 12
- 238000012544 monitoring process Methods 0.000 description 10
- 230000004913 activation Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 238000009432 framing Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W56/00—Synchronisation arrangements
- H04W56/001—Synchronization between nodes
- H04W56/0015—Synchronization between nodes one node acting as a reference for the others
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/407—Bus networks with decentralised control
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W72/00—Local resource management
- H04W72/20—Control channels or signalling for resource management
- H04W72/29—Control channels or signalling for resource management between an access point and the access point controlling device
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W74/00—Wireless channel access
- H04W74/08—Non-scheduled access, e.g. ALOHA
- H04W74/0808—Non-scheduled access, e.g. ALOHA using carrier sensing, e.g. carrier sense multiple access [CSMA]
- H04W74/0816—Non-scheduled access, e.g. ALOHA using carrier sensing, e.g. carrier sense multiple access [CSMA] with collision avoidance
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W74/00—Wireless channel access
- H04W74/08—Non-scheduled access, e.g. ALOHA
- H04W74/0866—Non-scheduled access, e.g. ALOHA using a dedicated channel for access
- H04W74/0883—Non-scheduled access, e.g. ALOHA using a dedicated channel for access for un-synchronized access
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W8/00—Network data management
- H04W8/005—Discovery of network devices, e.g. terminals
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
- H04W84/20—Master-slave selection or change arrangements
Definitions
- the present invention relates to a communication device, a communication system, and a communication method for acquiring a control right for a controlled device.
- Patent Document 1 discloses a technique in which a control right for operating a specific controlled object moves between programmable displays that are control devices.
- each control device inquires of another control device whether or not it has a control right for a specific controlled device, by an operation from the user. Then, the control device obtains the control right when no other control device has the control right for the specific controlled device. Therefore, in the technique described in Patent Document 1, information on all other master stations existing on the network (master station information) is registered in advance by the user in each control device that is a communication device functioning as a master station. Need to be. For this reason, if the master station information is not registered or is set incorrectly, or if a new master station is added to the network, the control right cannot be acquired correctly, and the slave station is duplicated and controlled by two or more master stations. There was a problem that it might end.
- master station information information on all other master stations existing on the network
- the present invention has been made in view of the above, and avoids duplication control on a controlled device and can determine whether or not an operation on a controlled device can be performed without requiring an operation by a user.
- the purpose is to obtain.
- the present invention includes a communication device that can control a slave station, and includes a communication unit that communicates with another communication device that can control the slave station via a network.
- This communication device acquires slave station information indicating a slave station to be controlled by another communication device, and based on the acquired slave station information, assigns a slave station that does not overlap with the slave station indicated by the slave station information.
- a control unit that is obtained as a control slave station and generates control information for controlling its own controlled slave station, and a transmission unit that transmits the control information to its own controlled slave station.
- the communication device has an effect that it is possible to avoid duplication control on the controlled device and to determine whether the controlled device can be operated without requiring any operation by the user.
- FIG. 1 is a diagram of a configuration example of a communication system according to the first embodiment of the present invention.
- the communication system according to the first embodiment includes master stations 11 and 12 that are communication devices, and slave stations 21 to 26 that are communication devices controlled by the master stations 11 and 12.
- the master stations 11 and 12 perform control right acquisition processing according to the present invention, which will be described later, and control the slave stations 21 to 26 when having the control right.
- the master stations 11 and 12 are a plurality of communication devices capable of controlling at least one of the slave stations 21 to 26.
- the master stations 11 and 12 are, for example, a programmable logic controller (PLC) or a personal computer.
- the slave stations 21 to 26 are, for example, vision sensors or driving devices.
- Master stations 11 and 12 and slave stations 21 to 26 are connected to each other by a network line 3.
- a network line 3 Here, an example in which the master stations 11 and 12 and the slave stations 21 to 26 are connected by the network line 3 will be described, but in the first embodiment, the master stations 11 and 12 and the slave stations 21 to 26 are Wireless connection may be used.
- FIG. 2 is a diagram illustrating a configuration example of the master station 11 according to the first embodiment.
- the master station 11 of the first embodiment includes a transmission unit 110, a reception unit 112, a communication control unit 111, an information storage unit 116, a device control unit 113, a state management unit 115, and a timer management unit 118.
- the device control unit 113 serving as a control unit includes a reception data processing unit 114 and a transmission data creation unit 117.
- the information storage unit 116 stores information on slave stations to be controlled by the master station 11.
- the slave station information includes information indicating the slave station.
- an IP (Internet Protocol) address is used as the information indicating the slave station will be described, but the information indicating the slave station is not limited to the IP address.
- the slave station information is registered in advance by the user.
- the slave station information may be changeable by the user.
- the receiving unit 112 is a receiver that receives data from the outside of the master station 11 via the network line 3.
- the communication control unit 111 performs a framing process for converting transmission data output from the device control unit 113 into a communication frame, and outputs the framed transmission data to the transmission unit 110.
- the communication control unit 111 deframes the reception data received by the reception unit 112 and outputs the data to the device control unit 113.
- the transmission unit 110 and the reception unit 112 also function as a communication unit that communicates with other communication devices via a network.
- the reception data processing unit 114 of the device control unit 113 analyzes the reception data output from the communication control unit 111. At this time, the reception data processing unit 114 acquires its own state from the state management unit 115, determines whether the reception data is correct data according to the acquired state, and determines that the reception data is correct data. In such a case, the received data is used for arithmetic processing for updating the state management unit 115 or controlling the device. If the received data processing unit 114 determines that the received data is not correct data, the received data processing unit 114 discards the received data.
- the transmission data creation unit 117 of the device control unit 113 creates transmission data and outputs the created transmission data to the communication control unit 111 for the transmission data.
- the communication control unit 111 determines a transmission destination, that is, a destination of transmission data based on information stored in the information storage unit 116.
- the transmission data creation unit 117 creates transmission data based on information stored in the information storage unit 116 as necessary.
- the transmission unit 110 is a transmitter that transmits framed transmission data output from the communication control unit 111 via the network line 3.
- the state management unit 115 acquires the reception data output from the device control unit 113 and the values of various timers measured by the timer management unit 118, and updates the state of the master station 11 based on these.
- the configuration of the master station 12 is the same as that of the master station 11.
- FIG. 3 is a diagram illustrating a configuration example of the slave station 21 according to the first embodiment.
- the slave station 21 includes a transmission unit 210, a reception unit 212, a communication control unit 211, a device control unit 213, a state management unit 215, an information storage unit 216, a timer management unit 218, and a controlled unit 219.
- the device control unit 213 includes a reception data processing unit 214 and a transmission data creation unit 217.
- the receiving unit 212 is a receiver that receives data from the outside of the slave station 21 via the network line 3.
- the communication control unit 211 performs a framing process on the transmission data output from the device control unit 213 and outputs the framed transmission data to the transmission unit 210.
- the communication control unit 211 performs deframe processing on the reception data received by the reception unit 212 and outputs the data to the device control unit 213.
- the reception data processing unit 214 of the device control unit 213 analyzes the reception data output from the communication control unit 211. If the received data is data that instructs an operation to the controlled unit 219, the received data processing unit 214 outputs the data to the controlled unit 219.
- the controlled unit 219 is a device to be controlled by the master stations 11 and 12, and operates according to data output from the received data processing unit 214, that is, instructions. For example, when the slave station is a vision sensor, the controlled unit 219 is a sensor unit that captures an imaging target and acquires an image.
- the state management unit 215 manages the state of the slave station 21.
- the timer management unit 218 manages various timers.
- the transmission data creation unit 217 of the device control unit 213 creates transmission data and outputs the created transmission data to the communication control unit 211 of the transmission data.
- the transmission data creation unit 217 generates transmission data addressed to the master stations 11 and 12 in accordance with instructions from the master stations 11 and 12.
- the transmission unit 210 is a transmitter that transmits framed transmission data output from the communication control unit 211 via the network line 3.
- the configuration of the slave stations 22 to 26 is the same as that of the slave station 21.
- FIG. 4 is a diagram illustrating an example of a communication frame used in communication between the master station and the slave station according to the first embodiment.
- the communication frame used in the communication between the master station and the slave station of the present embodiment includes a request frame, a normal response frame, and an abnormal response frame.
- the normal response frame and the abnormal response frame are each a kind of response frame.
- the request frame is a communication frame transmitted from the master station to the slave station
- the response frame is a communication frame transmitted as a response from the slave station or master station that has received the request frame.
- communication frames other than those shown in FIG. 4 may be used in communication between the master station and the slave station.
- Ethernet registered trademark
- IP Internet Protocol
- UDP User Datagram Protocol
- Transmission of communication between the master station and the slave station The format and communication protocol are not limited to these.
- each communication frame includes a header.
- the header includes an Ethernet / IP / UDP header and a subheader that is information indicating the type of communication frame such as a request frame or a response frame.
- a request data length indicating the length of request data
- a monitoring timer indicating a timer value in a monitoring timer described later
- request data are stored after the header.
- a response data length indicating the length of the response data
- an end code indicating whether the response is an abnormal response or a normal response
- response data are stored after the header.
- a response data length indicating the length of the response data, an end code indicating whether it is an abnormal response or a normal response, and error information indicating details of the abnormal content are stored after the header.
- the in the normal response frame a value indicating a normal response is stored in the end code, and in the abnormal response frame, a value indicating an abnormal response is stored in the end code.
- FIG. 5 to 7 are diagrams showing examples of request data and corresponding response data.
- FIG. 5 shows an example of request data when confirming the presence or absence of duplication of slave stations to be controlled with other master stations.
- the request frame storing the request data shown in FIG. 5 is transmitted from the master station at the start of the arbitration process for acquiring the control right of the slave station.
- the request data shown in FIG. 5 includes a command, a subcommand, the number of controlled devices, and IP addresses corresponding to the number of controlled devices.
- the command and subcommand store information indicating a request for confirming whether or not there is duplication of slave stations to be controlled with other master stations.
- the controlled device indicates a slave station.
- the response data shown in FIG. 5 shows an example of response data stored in the response frame when the master station receiving the request frame storing the request data shown in FIG. 5 transmits the response frame. Yes.
- the response data stores the slave station duplication state, that is, the IP addresses of the slave stations that are duplicated and set as the control targets of a plurality of master stations.
- FIG. A response frame storing the matched IP address is transmitted to the response data shown in FIG.
- the master station that has received the request frame storing the request data shown in FIG. 5 does not transmit a response frame when there is no match between the slave station to be controlled and the IP address in the request data.
- the request frame in which the request data shown in FIG. 5 is stored is hereinafter referred to as a “Persuasion request frame”.
- FIG. 6 shows an example of request data when requesting acquisition of the model name of the slave station.
- the request data shown in FIG. 6 includes a command and a subcommand.
- the command and subcommand store information indicating that it is a request for acquiring the model name of the slave station.
- the response data shown in FIG. 6 shows an example of the response data stored in the response frame when the slave station that has received the request frame storing the request data shown in FIG. 6 transmits the response frame. Yes.
- the response data stores a model name of the slave station and a model name code which is a code indicating the model name.
- the request frame in which the request data shown in FIG. 6 is stored is hereinafter referred to as a Read Type Name request frame.
- FIG. 7 shows an example of request data when a slave station is requested to perform cyclic transmission.
- the request data shown in FIG. 7 includes a command, a subcommand, a frame sequence No. (Number), master station IP address, parameter identification number. , Slave station total occupied station number, cyclic transmission instruction, slave station IP address for slave station total occupied station number, RW W cyclic data for slave station total occupied station number, and slave station total occupied station number Includes RY cyclic data.
- the cyclic transmission instruction has a 64-bit area, and each slave station is assigned to each bit. The value of this bit indicates whether cyclic transmission of each slave station is on or off. Information indicating a request for cyclic transmission is stored in the command and subcommand.
- RW W cyclic data and RY cyclic data are cyclic data transmitted from a master station to a slave station.
- the response data shown in FIG. 7 shows an example of response data stored in the response frame when the slave station that has received the request frame storing the request data shown in FIG. 7 transmits the response frame. Yes.
- the response data includes a frame sequence No. , Slave station IP address, cyclic transmission response waiting time, RW r cyclic data for the number of occupied stations, and RX cyclic data for the number of occupied stations are stored.
- the request frame in which the request data shown in FIG. 7 is stored is hereinafter referred to as a “Cyclic Data request frame”.
- RW R cyclic data and RX cyclic data are cyclic data transmitted from the slave station to the master station.
- FIG. 8 is a sequence diagram showing operations from obtaining the control right of the slave station after starting the master station to starting communication with the slave station in the first embodiment.
- the master station 11 is added to an existing system including the master station 12 and the slave station 21.
- a process from when the master station 11 is started until communication with the slave station 21 is started will be described with reference to FIG. That is, hereinafter, an example will be described in which the master station 11 operates as a first communication device that performs control right acquisition processing, and the master station 12 operates as a second communication device other than the first communication device.
- the master station 12 performs the control right acquisition process
- the master station 11 and the master station 12 are exchanged in the following operation.
- step S11 an arbitration process for acquiring the control right of the slave station is performed (step S11). Specifically, the transmission data creation unit 117 reads the IP address of the slave station that is the control target of the master station 11 and is stored in the information storage unit 116 in order to start the arbitration process. The number of slave stations and the read IP address are output to the transmission control unit 111.
- the master station 11 transmits a Persuasion request frame by broadcasting (step S12). Specifically, the communication control unit 111 creates request data based on the information output from the transmission data creation unit 117, and sends a Persuasion request frame in which the broadcast address is stored in the destination in the header via the transmission unit 110. To the network line 3.
- the master station 11 starts a response waiting timer (step S14). As a result, the master station 11 enters a response waiting state. Specifically, the timer management unit 118 starts a response waiting timer.
- the IP address of the slave station to be controlled by the master station 11 is stored.
- the master station 12 on the same network that has received this Persuasion request frame compares the IP address of the slave station stored in the master station 12 as a control target device with the IP address in the Persuasion request frame as an arbitration process (step) S13). Then, if there is a matching IP address, that is, a duplicate address, the master station 12 transmits a Persuasion response frame to the master station 11 by unicast. If there is no matching IP address, no response frame is transmitted.
- the IP address of the slave station stored in the Persuasion request frame is stored in advance in the master stations 11 and 12 by the user.
- duplicate IP addresses are stored in the Persuasion response frame. Therefore, the master station 11 that has transmitted the Persuasion request frame refers to the response data stored in the response frame, and identifies the slave station that is redundantly controlled in the master station 11 and the master station 12. Can do.
- the device control unit 113 of the master station 11 generates acquisition request information indicating that it requests acquisition of slave station information indicating the slave station controlled by the master station 12, and the transmission unit 110 acquires the acquisition request information.
- the acquisition request information includes first information that is information indicating a slave station that is a control target of the master station 11 and is stored in the information storage unit 116.
- the Persuasion request frame is transmitted by broadcast, but is also transmitted to the master station 12. Then, the master station 11 acquires the IP address stored in the Persuasion response frame as slave station information indicating the slave station controlled by the master station 12.
- the IP address stored in the Persuasion response frame is information indicating a slave station that overlaps between the slave station controlled by the master station 12 and the slave station set as the control target of the master station 11, that is, the first address. And the second information indicating the slave station that is the control target of the master station 12. If the slave station to be controlled by the master station 11 is the first slave station and the slave station to be controlled by the master station 12 is the second slave station, the IP address stored in the Persuasion response frame is the first It can also be said that this is information indicating the slave station overlapping between the slave station and the second slave station.
- the IP address stored in the Persuasion response frame is also information indicating the slave station controlled by the master station 12, that is, slave station information.
- the master station 11 determines that the slave stations that are controlled devices are duplicated, and stops operation (step S15). Specifically, when the reception data processing unit 114 receives the response data stored in the Persuasion response frame via the reception unit 112 and the communication control unit 111, the slave station to be controlled and the other master station control. Judge that the target slave station is duplicated and do not implement the process to control the slave station.
- step S16 when the response waiting timer times out without receiving a Persuasion response frame from the master station 12, it is determined that the slave station has the control right of the slave station, and the process proceeds to initial processing (step S16).
- the device control unit 113 of the master station 11 does not receive a Persuasion response frame, so that the slave station information indicating that the slave station to be controlled by the master station 11 and the slave station to be controlled by the master station 12 do not overlap.
- the master station 11 can obtain the slave station whose IP address is stored in the Persuasion request frame as a controlled slave station that it has control right.
- the master station 11 When it is determined by the arbitration process that the slave station has the control right, the master station 11 starts the initial process to check whether the slave station controlled by the master station 11 exists on the network (step S21).
- the master station 11 transmits a Read Type Name request frame to a slave station stored as a control target by unicast (step S22).
- the communication data generator 117 reads the IP address of the slave station to be controlled stored in the information storage unit 116 and transmits a Read Type Name request frame to the IP address. To instruct.
- the communication control unit 11 generates a Read Type Name request frame based on the instruction, and sends the generated Read Type Name request frame to the network line 3 via the transmission unit 110.
- FIG. 8 shows an example in which the master station 11 transmits a Read Type Name request frame to the slave station 21.
- the slave station 21 that has received the Read Type Name request frame transmits a Read Type Name response frame to the master station 11, and the master station 11 receives the Read Type Name response frame (step S23). Specifically, when the communication control unit 211 of the slave station 21 receives the Read Type Name request frame via the reception unit 212, the communication control unit 211 notifies the reception data processing unit 214 that the Read Type Name request frame has been received. The reception data processing unit 214 notifies the communication control unit 211 of its model name and model name code, and the communication control unit 211 transmits a response frame storing the model name and model name code as response data to the transmission unit 210. To the master station 11.
- the master station 11 When the master station 11 receives a Read Type Name response frame that is a response frame to the Read Type Name request frame within a certain period of time after the Read Type Name request frame is transmitted, the master station 11 “cyclic transmission”. The process proceeds to “Process” (step S24).
- the master station 11 starts control in the “cyclic transmission processing” described below for the slave station that has transmitted the Read Type Name response frame in the “initial processing”.
- the “arbitration process” (step S11) and the “initial process” (step S21) described above are performed again in parallel with the “cyclic transmission process”. Is called.
- step S31 the master station 11 transmits the Cyclic Data request frame shown in FIG. 7 by broadcast, and the slave station 21 that has received the Cyclic Data request frame responds to the Cyclic Data request frame.
- a Cyclic Data response frame is transmitted to the master station 11 by unicast.
- step S31 the transmission of the cyclic data request frame from the master station 11 and the transmission of the cyclic data response frame from the slave station are repeatedly performed (step S32).
- the device control unit 113 of the master station 11 generates control information for controlling a controlled slave station that is a slave station to which the master station 11 has a control right, and transmits the transmission unit 110. Transmits the control information as a Cyclic Data request frame to the controlled slave station.
- the Cyclic Data request frame is transmitted by broadcast.
- a slave station that turns on cyclic transmission that is, a slave station to be controlled is specified.
- the slave station 21 is illustrated, but the master station 11 overlaps each slave to be controlled stored in the information storage unit 116 of the master station 11 by “arbitration processing”. Judge whether or not. When the response wait timer times out without receiving a Persuasion response frame due to the "arbitration process", it is determined that the control target does not overlap with other master stations for all slave stations to be controlled, and all control targets are "Initial processing" is executed for the slave station. Then, the master station 11 performs “cyclic transmission processing” on the slave station that has received the Read Type Name response frame in “initial processing”, and again on the slave station that has not received the Read Type Name response frame. Perform "arbitration processing” and "initial processing”.
- the Persuasion response frame is received by “arbitration processing”, and the IP address stored in the Persuasion response frame is the slave station to be controlled by the master station 11.
- the master station 11 stops the operation for the slave stations with overlapping IP addresses, that is, does not control the slave stations.
- the master station 11 performs the processing after the above-described “initial processing”.
- FIG. 9 and 10 are state transition diagrams of the master stations 11 and 12 according to the first embodiment.
- the states of the master stations 11 and 12 are managed in two states, that is, an overall state indicating a state for all slave stations and an individual state indicating a state for each slave station. In the latter, a state is defined for each slave station.
- FIG. 9 shows the state transition of the entire state
- FIG. 10 shows the state transition of the individual state for each slave.
- the state management unit 115 of the master stations 11 and 12 manages the overall state and the individual state for each slave station. In the following description of the state transition, the master station 11 will be described as an example, but the same applies to the master station 12.
- the state management unit 115 of the master station 11 sets the entire state and the individual state in standby M1 and M11 states after the master station 11 is activated.
- the transmission data creation unit 117 acquires the information of the slave station to be controlled, that is, the IP address from the information storage unit 116
- the transmission data creation unit 117 notifies the state management unit 115 to that effect, and the state management unit 115 does not request an arbitration of the overall state.
- the transmission is M2, and the individual state of all slave stations is M12 during disconnection. In this state, the master station 11 transmits a Persuasion request frame on the network.
- the transmission data creation unit 117 notifies the state management unit 115 that the Persuasion request frame has been transmitted, and the state management unit 115 sets the overall state to M3 during cyclic transmission suspension and sets the individual state to M13 during arbitration processing. At this time, the master station 11 starts an arbitration response waiting timer simultaneously with the transmission of the Persuasion request frame.
- the state management unit 115 is notified from the device control unit 113 of transmission of each frame by the transmission data creation unit 117, reception of each frame by the reception data processing unit 114, time-up of each timer, and the like. The description of the operation of these notifications is omitted.
- the state management unit 115 changes the overall state to the slave station duplication M6.
- the state management unit 115 causes the individual state corresponding to the slave station having the duplicate IP address by the Persuasion response frame to transition to the waiting M11. Thereby, the control for the slave station is stopped.
- the state management unit 115 changes the information of the slave station to be controlled in the information storage unit 116 after changing the overall state to the slave station duplication M6. Specifically, the state management unit 115 changes the information of the slave station to be controlled in the information storage unit 116. The information corresponding to the slave station that has been notified of duplication by the Persuasion response frame is deleted from the information, and the whole state is shifted to the waiting M1. Further, when receiving the Persuasion response frame, the state management unit 115 shifts the individual state corresponding to the slave station whose IP address does not overlap to M14 during initial processing. On the other hand, when an arbitration response wait timeout occurs without receiving a Persuasion response frame, the state management unit 115 changes the individual states of all the slave stations to be controlled to M14 during initial processing.
- the master station 11 transmits a Read Type Name request frame to the slave station and starts an initial response waiting timer.
- the state management unit 115 of the master station 11 sets the individual state of the slave station that has received the Read Type Name response frame as the initial process completion M15, and sets the individual status of the slave station that has timed out the initial response wait time without receiving the Read Type Name response frame.
- the state is changed to M13 during the arbitration process.
- the slave station that has received the Read Type Name response frame indicates the slave station that is the transmission source of the Read Type Name response frame when the master station 11 has received the Read Type Name response frame.
- the slave station from which the master station 11 has received a frame indicates a slave station that has transmitted the frame when the master station 11 has received the frame.
- the master station 11 For the slave station that has transitioned to M13 during the arbitration process, the master station 11 performs the arbitration process and the initial process again.
- the state management unit 115 determines that cyclic transmission is possible, and transitions the entire state to M4 during cyclic transmission. At this time, the state management unit 115 changes the individual state of the slave station that has received the Read Type Name response frame to M16 during cyclic transmission.
- the master station 11 transmits a cyclic transmission request, that is, a Cyclic Data request frame, and receives a cyclic transmission normal response, that is, a Cyclic Data response frame from the slave station.
- the state management unit 115 transitions the overall state to the cyclic transmission completion M5, and sets the individual state of the slave station that has received the cyclic transmission normal response to the cyclic transmission completion M17. Transition.
- the master station 11 receives the cyclic transmission normal response from all slave stations of the slave station that has received the Read Type Name response frame.
- the individual state of the received slave station is repeatedly changed to cyclic transmission M4, M16 and cyclic transmission completion M5, M17, respectively.
- the state management unit 115 selects each slave station individually. The state is transitioned to M12 during disconnection. On the other hand, if there is a slave station that failed in cyclic transmission, or if there is a slave station that has received a cyclic transmission normal response, the overall state is not changed. When all the slave stations have failed in the cyclic transmission, the state management unit 115 changes the entire state to the arbitration request untransmitted M2.
- the individual state is that cyclic transmission M16 and cyclic transmission completion M17 are repeated. And a transition to M12 during the disconnection may coexist.
- the entire state is M4 during cyclic transmission and cyclic transmission completion M5 is repeated, and the individual state of the sleeve station that has transitioned to M12 during disconnection is M12 during disconnection, M13 during arbitration processing, M14 during initial processing, initials Any state of processing completion M15 is entered.
- the master station 11 may perform the arbitration process, indicating that the adjustment normal response, that is, the slave station has been duplicated by the arbitration process.
- the state transits to the slave station duplication M6, and when the Persuasion response frame is not received, that is, when a time-out occurs, the entire state is not changed.
- the master station 11 when an arbitration request is received from the master station 12 which is another master station, the master station 11 is in a state where the overall state is cyclic transmission stopped M3, cyclic transmission M4 or cyclic transmission complete M5. In response to the arbitration request. When the overall state is other than these, the master station 11 does not respond to the arbitration request.
- FIG. 11 is a state transition diagram of the slave station 21 in the first embodiment.
- the state management unit 215 sets the state of the slave station 21 to the control master station unconfirmed M41.
- the reception data processing unit 214 determines that the master station that has transmitted the Cyclic Data request frame is the control master, and information on the master station, for example, The IP address is stored in the information storage unit 216.
- the state management unit 215 sets the state of the slave station 21 as the control master station determination M42.
- the timer management unit 218 activates the request reception waiting timer activation.
- the communication control unit 211 of the slave station 21 stores the information of the master station that is the source of the Cyclic Data request frame and the information storage unit 216. Compare with control master station information. When the information of the master station that is the transmission source of the Cyclic Data request frame matches the information of the control master station stored in the information storage unit 216, the content of the Cyclic Data request frame is notified to the reception data processing unit 214. When notified of the contents of the Cyclic Data request frame, the reception data processing unit 214 instructs the transmission data creation unit 215 to create a response and notifies the timer management unit 218 that the Cyclic Data request frame has been received.
- the transmission data creation unit 215 instructs the transmission control unit 211 to transmit the Cyclic Data response frame, and the transmission control unit 211 transmits the Cyclic Data response frame to the master station by unicast.
- the timer manager 218 resets the request reception waiting timer.
- the state management unit 215 determines that the control master is absent, and transitions the state of the slave station 21 to the control master unconfirmed state M41.
- a Cyclic Data request frame is received from the master station, and the information of the master station that is the source of the Cyclic Data request frame matches the information of the control master station stored in the information storage unit 216 If not, the communication control unit 211 of the slave station 21 transmits an error response frame storing an end code indicating a master station duplication error to the master station that is the transmission source of the Cyclic Data request frame. That is, the device control unit 213 that is the control unit of the slave station 21 receives the control information for controlling itself from the first master station that is one of the plurality of master stations, and then receives a plurality of masters.
- duplicate abnormality information indicating that there are a plurality of master stations controlling the slave station is generated. To do. Then, the transmission unit 210 of the slave station 21 transmits the duplicate abnormality information as an abnormality response frame to the second master station.
- the state transition in the slave stations 22 to 26 is the same as the state transition in the slave station 21.
- the master station 11 instructs cyclic transmission as control for the controlled device, but the control of the controlled device by the master station 11 is not limited to this. Even when the master station 11 performs other control on the controlled device, as in the above example, it is determined that the control right has been acquired by the arbitration process, and the initial process is determined to have acquired the control right. After the above is executed, a frame storing control information for performing control may be transmitted to the slave station.
- the master station 11 transmits information indicating a slave station set as a control target of the master station 11, and the master station 12 that has received the information determines whether the control target is duplicated.
- the master station 11 may acquire information indicating the slave station to be controlled from the master station 12 and determine duplication.
- the master station 11 transmits a frame requesting to transmit information indicating a slave station that is controlled by another master station by broadcast instead of the Persuasion request frame.
- the other master station transmits information indicating the slave station to be controlled to the master station 11 as a response.
- the master station 12 compares the information indicating the slave station stored in the information storage unit 116 with the information indicating the slave station stored in the received response, thereby duplicating the slave to be controlled. The station can be determined.
- the master station of the first embodiment is a case where a plurality of master stations with overlapping slave stations to be controlled participate in the network at the same time.
- one of the plurality of master stations can acquire the control right.
- there is no need for the user to set information on other master stations in each master station and duplicate control of controlled devices due to user misconfiguration or added master station leaks does not occur.
- the master station according to the first embodiment can determine whether or not the controlled device can be operated without requiring any operation by the user.
- FIG. FIG. 12 is a sequence diagram showing operations from acquisition of the control right of the slave station after starting of the master station to start of communication with the slave station in the second embodiment according to the present invention.
- the configuration of the communication system, the master station, and the slave station of the present embodiment is the same as that of the first embodiment.
- the communication frame used in the communication system is different from that in the first embodiment.
- the state transition and some operations are different from those in the first embodiment.
- the master station 11 uses three types of communication frames before starting communication with the slave stations 21 to 26, whereas in the second embodiment, one type of communication frame is used. To do. The operation from the start of the master station 11 to the start of communication with the slave station 21 will be described with reference to FIG.
- the master station 11 when the master station 11 is activated, the master station 11 performs an arbitration process for acquiring the control right of the slave station 21 (step S41).
- the master station 11 first starts a frame monitoring timer as an arbitration process (step S42). Specifically, the timer management unit 118 of the master station 11 starts the frame monitoring timer.
- the slave station to be controlled is duplicated. Therefore, the operation is stopped (step S43).
- the port number is stored in, for example, a UDP / IP header.
- the format of the Cyclic Data request frame and its response frame is the same as in the first embodiment. Specifically, when the communication control unit 111 receives the Cyclic Data request frame via the receiving unit 112, the port number is extracted from the Cyclic Data request frame from the receiving unit 112.
- the communication control unit 111 notifies the reception data processing unit 114 of the port number extracted from the Cyclic Data request frame, and the reception data processing unit 114 uses the port number extracted from the Cyclic Data request frame by itself. If the port number is the same, the operation is stopped.
- the master station 11 receives a frame in which the same port number as that used by another master station is stored, the master station 11 is the master station 12 which is the other master station. Judge that it is in a controllable state.
- the port number for receiving the Cyclic Data request frame is slave station information indicating the slave station controlled by another master station.
- the master station 11 When the frame monitoring timer expires, the master station 11 does not receive the Cyclic Data request frame, or even if it receives the Cyclic Data request frame, the port number stored in the Cyclic Data request frame is If the port number is different from the port number used, it is determined that the slave station can be controlled, and the process proceeds to “cyclic transmission processing” after the frame monitoring timer times out (step S44).
- step S51 the master station 11 sets all the values indicating OFF in the cyclic transmission instruction of the Cyclic Data request frame, that is, for example, 0, and transmits by broadcast.
- the slave station 21 that has received the Cyclic Data request frame transmits the Cyclic Data response frame to the master station 11 by unicast. At this time, the master station 11 has not yet controlled the slave station 21.
- step S51 the master station 11 repeats transmission of a Cyclic Data request frame and reception of a Cyclic Data response frame (Step S52).
- the master station 11 performs control of the slave station 21 from the second and subsequent transmission of the Cyclic Data request frame. That is, the master station 11 indicates that the bit corresponding to the slave station that has responded to the previously transmitted Cyclic Data request frame in the cyclic transmission instruction of the Cyclic Data request frame for the second and subsequent values is ON. That is, for example, it is set to 1 and transmitted by broadcast.
- the cyclic transmission instruction is information indicating whether each bit corresponds to each slave station and whether each slave station performs cyclic transmission according to the value of each bit.
- FIG. 13 and FIG. 14 are state transition diagrams of the master stations 11 and 12 of the second embodiment.
- the states of the master stations 11 and 12 are managed in two states, that is, an overall state indicating a state for all slave stations and an individual state indicating a state for each slave station. In the latter, a state is defined for each slave station.
- FIG. 13 shows the state transition of the entire state
- FIG. 14 shows the state transition of the individual state for each slave.
- the state management unit 115 of the master stations 11 and 12 manages the overall state and the individual state for each slave station. In the following description of the state transition, the master station 11 will be described as an example, but the same applies to the master station 12.
- the state management unit 115 of the master station 11 sets the overall state and the individual states of all the slave stations to be controlled as standby M21 and standby M31, respectively.
- the transmission data creation unit 117 acquires the information of the slave station to be controlled, that is, the IP address from the information storage unit 116
- the transmission data creation unit 117 notifies the state management unit 115 of the fact, and the state management unit 115 is adjusting the overall state M22.
- the individual state of each slave station is M32 during disconnection.
- the master station 11 starts a frame monitoring timer.
- the state management unit 115 shifts the entire state to the master station duplication M25. It becomes. If the Cyclic Data request frame with the same port number is not received before the frame monitoring timer times out, the state management unit 115 changes the entire state to M23 during cyclic transmission.
- the master station 11 of M23 broadcasts a Cyclic Data request frame including a cyclic transmission activation instruction, and activates a cyclic transmission response wait timer.
- the state management unit 115 of the master station 11 sets the individual state of each slave station to the return wait M33.
- the state management unit 115 determines that the corresponding slave station does not exist in the network, and shifts the individual state of the corresponding slave station to M32 during disconnection.
- the state management unit 115 transitions the entire state to the cyclic transmission completion M24 and receives the Cyclic Data response frame. This individual state is defined as cyclic transmission completion M34. Thereafter, the overall status of the master station 11 is repeated during cyclic transmission M23 and cyclic transmission completion M24, and the individual statuses of the slave stations that have received the Cyclic Data response frame are cyclic transmission M35 and cyclic transmission completion M34. Is repeated.
- the master station 11 When the overall state is cyclic transmission in progress M23 or cyclic transmission completion M24, when the master station 11 receives the abnormal response frame storing the master station duplication abnormality end code from the slave station as the response frame, The state is changed to the master station duplication M25 and the operation is stopped, that is, transmission of control information to the slave station is stopped.
- This response frame is the abnormal response frame shown in FIG. 4, and a value indicating master station duplication abnormality is stored in the end code.
- the state transition and operation of the slave station are the same as in the first embodiment, and the slave station receives the Cyclic Data request frame from the master station while the request reception waiting timer is running, and the master station that is the source of the Cyclic Data request frame And the information of the control master station stored in the information storage unit 216 do not match, the abnormal response frame is transmitted to the master station that is the source of the Cyclic Data request frame.
- the master station 11 When the user wants to intentionally stop the cyclic transmission, the master station 11 is operated to cause the master station 11 to transmit a cyclic data request frame including a cyclic transmission stop instruction when the cyclic transmission request is transmitted.
- the cyclic transmission can be stopped for each slave station.
- the master station 11 changes the individual state of the slave station that is the target of the cyclic transmission stop instruction to M36 during cyclic transmission stop.
- the master station 11 receives a Cyclic Data request frame from the master station 12, which is another master station, when the overall state is cyclic transmission M23 or cyclic transmission completion M24, it is stored in the received frame. Regardless of the port number, all are ignored, that is, no operation is performed due to the reception of a Cyclic Data request frame.
- the state transitions in the slave stations 21 to 26 are the same as in the first embodiment.
- the transmission unit 110 of the master stations 11 and 12 and the transmission unit 210 of the slave stations 21 to 26 are transmitters, and the reception unit 112 of the master stations 11 and 12 and the reception unit 212 of the slave stations 21 to 26 are received.
- the information storage unit 116 of the master stations 11 and 12 and the information storage unit 216 of the slave stations 21 to 26 are memories.
- the controlled units 219 of the slave stations 21 to 26 are sensors or activation devices.
- the communication control unit 111, the information storage unit 116, the device control unit 113, the state management unit 115, the timer management unit 118, the communication control unit 211, the device control unit 213, the state management unit 215, and the timer management unit 218 are realized by a processing circuit. Is done.
- This processing circuit may be a processing circuit that is dedicated hardware, or may be a control circuit including a processor. In the case of dedicated hardware, the processing circuit is, for example, a circuit called a microcontroller.
- the processing circuit is, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination thereof.
- FIG. 15 is a diagram illustrating a configuration example of the control circuit 200 according to the present embodiment.
- the control circuit 200 includes a processor 201 and a memory 202.
- the processor is a CPU (Central Processing Unit, central processing unit, processing unit, arithmetic unit, microprocessor, microcomputer, processor, DSP (Digital Signal Processor)) or the like.
- the memory is a nonvolatile or volatile semiconductor such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read Only Memory), etc. Memory, magnetic disk, flexible disk, optical disk, compact disk, mini disk, DVD (Digital Versatile Disk), etc. are applicable.
- the processor 201 When the processing circuit is realized by the control circuit 200 including a processor, the processor 201 reads out and executes a program in which processing of each unit is stored, which is stored in the memory 202.
- programs describing the processing of the communication control unit 111, the device control unit 113, the state management unit 115, and the timer management unit 118 are stored in the memory 202, and the processor 201 reads these programs.
- programs describing the processing of the communication control unit 211, the device control unit 213, the state management unit 215, and the timer management unit 218 are stored in the memory 202, and the processor 201 reads out these programs. Execute.
- the memory 202 and the information storage unit 116 may be configured as the same memory.
- the memory 202 and the information storage unit 216 may be configured as the same memory.
- the memory 202 is also used as a temporary memory in each process executed by the processor 201.
- the port number is used as a condition for determining whether or not a plurality of master stations control the slave station in an overlapping manner, but a network address may be used instead of the port number.
- the master station 11 compares the network address used by the master station 11 with the network address stored in the received Cyclic Data request frame, so that a plurality of master stations control the slave stations redundantly. A determination of whether or not can be made.
- the configuration described in the above embodiment shows an example of the contents of the present invention, and can be combined with another known technique, and can be combined with other configurations without departing from the gist of the present invention. It is also possible to omit or change the part.
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Abstract
Description
図1は、本発明の実施の形態1にかかる通信システムの構成例を示す図である。図1に示すように、実施の形態1の通信システムは、通信装置であるマスタ局11,12と、マスタ局11,12から制御される通信装置であるスレーブ局21~26と、を備える。マスタ局11,12は、後述する本発明にかかる制御権取得処理を行い、制御権を有する場合にスレーブ局21~26を制御する。マスタ局11,12は、スレーブ局21~26のうち少なくとも1つを制御可能な複数の通信装置である。
図12は、本発明にかかる実施の形態2におけるマスタ局起動後のスレーブ局の制御権取得からスレーブ局との通信開始までの動作を示したシーケンス図である。本実施の形態の通信システム、マスタ局およびスレーブ局の構成は、実施の形態1と同様である。実施の形態2では、通信システムにおいて使用する通信フレームが実施の形態1と異なる。また、実施の形態2では、状態遷移および一部の動作が実施の形態1と異なる。以下、実施の形態1と異なる点を説明する。
Claims (10)
- スレーブ局を制御可能な通信装置において、
スレーブ局を制御可能な他の通信装置とネットワークを介して通信する通信部と、
前記他の通信装置の制御対象であるスレーブ局を示すスレーブ局情報を取得し、取得した前記スレーブ局情報に基づいて、前記スレーブ局情報が示すスレーブ局と重複しないスレーブ局を自己の被制御スレーブ局として求め、前記自己の被制御スレーブ局を制御するための制御情報を生成する制御部と、
前記制御情報を前記自己の被制御スレーブ局へ送信する送信部と、
を備えることを特徴とする通信装置。 - 前記制御部は、前記スレーブ局情報の取得を要求することを示す取得要求情報を生成し、
前記送信部は、前記取得要求情報を前記他の通信装置へ送信することを特徴とする請求項1に記載の通信装置。 - 自己の制御対象である前記スレーブ局を示す情報である第1の情報を記憶する記憶部と、
前記取得要求情報に対する応答として前記スレーブ局情報を受信する受信部と、を備え、
前記取得要求情報は、前記第1の情報を含み、
前記スレーブ局情報は、前記第1の情報と、前記他の通信装置の制御対象であるスレーブ局を示す第2の情報との間で重複する情報であることを特徴とする請求項2に記載の通信装置。 - 前記スレーブ局情報は、前記他の通信装置から送信された信号に格納されたポート番号またはネットワークアドレスであることを特徴とする請求項1に記載の通信装置。
- 前記スレーブ局から、前記スレーブ局を制御する前記通信装置が複数存在することを示す情報を受信すると、前記スレーブ局に対する前記制御情報の送信を停止することを特徴とする請求項4に記載の通信装置。
- 前記スレーブ局情報は、自己の制御対象の前記スレーブ局である第1のスレーブ局と前記他の通信装置の制御対象の前記スレーブ局である第2のスレーブ局との間で重複するスレーブ局を示す情報であることを特徴とする請求項1に記載の通信装置。
- 自己の起動後、前記スレーブ局の制御を開始する前に、前記スレーブ局情報を取得して前記自己の被制御スレーブ局を求めることを特徴とする請求項1から6のいずれか1つに記載の通信装置。
- マスタ局により制御される通信装置であって、
複数のマスタ局のうちの1つである第1のマスタ局から、自身を制御するための制御情報を受信した後に、前記複数のマスタ局のうち前記第1のマスタ局以外である第2のマスタ局から、自身を制御するための制御情報を受信した場合、スレーブ局を制御するマスタ局が複数存在することを示す重複異常情報を生成する制御部と、
前記第2のマスタ局へ前記重複異常情報を送信する送信部と、
を備えることを特徴とする通信装置。 - スレーブ局と、前記スレーブ局を制御可能な複数の通信装置を備える通信システムであって、
前記複数の通信装置のうちの1つである第1の通信装置は、
前記複数の通信装置のうち前記第1の通信装置以外である第2の通信装置により制御されているスレーブ局を示すスレーブ局情報を取得し、前記スレーブ局情報に基づいて、前記第1の通信装置の制御対象とするスレーブ局のうち前記第2の通信装置の制御対象のスレーブ局と重複しない前記スレーブを被制御スレーブ局として求め、前記被制御スレーブ局を制御するための制御情報を生成する制御部と、
前記制御情報を前記被制御スレーブ局へ送信する送信部と、
を備えることを特徴とする通信システム。 - スレーブ局を制御可能な通信装置における通信方法であって、
スレーブ局を制御可能な他の通信装置の制御対象であるスレーブ局を示すスレーブ局情報を取得する第1のステップと、
前記第1のステップで取得した前記スレーブ局情報に基づいて、前記スレーブ局情報が示すスレーブ局と重複しないスレーブ局を自己の被制御スレーブ局として求める第2のステップと、
前記自己の被制御スレーブ局を制御するための制御情報を生成する第3のステップと、
前記制御情報を前記自己の被制御スレーブ局へ送信する第4のステップと、
を含むことを特徴とする通信方法。
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- 2016-03-31 WO PCT/JP2016/060817 patent/WO2017168723A1/ja active Application Filing
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TWI648975B (zh) | 2019-01-21 |
CN108886484B (zh) | 2020-01-03 |
US20190059065A1 (en) | 2019-02-21 |
KR20180110170A (ko) | 2018-10-08 |
JPWO2017168723A1 (ja) | 2018-04-12 |
DE112016006338T5 (de) | 2018-10-18 |
DE112016006338B4 (de) | 2020-03-05 |
TW201737676A (zh) | 2017-10-16 |
JP6192873B1 (ja) | 2017-09-06 |
CN108886484A (zh) | 2018-11-23 |
KR101919744B1 (ko) | 2019-02-08 |
US10524219B2 (en) | 2019-12-31 |
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