WO2022019014A1 - 通信装置、通信システム、通信制御方法、及びプログラム - Google Patents
通信装置、通信システム、通信制御方法、及びプログラム Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
- G05B19/4141—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by a controller or microprocessor per axis
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- H—ELECTRICITY
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- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
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- H04L12/02—Details
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- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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- G06F13/362—Handling requests for interconnection or transfer for access to common bus or bus system with centralised access control
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- G—PHYSICS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
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Definitions
- the present disclosure generally relates to communication devices, communication systems, communication control methods, and programs. More specifically, the present disclosure relates to communication devices, communication systems, communication control methods, and programs that communicate with one or more slaves.
- Patent Document 1 discloses a communication device connected to a network in which data is updated at predetermined intervals.
- This communication device includes a first scheduling means and a second scheduling means.
- the first scheduling means secures a first communication band necessary for updating the first data used for controlling the manufacturing apparatus or the production equipment at predetermined periodic intervals.
- the second scheduling means is a second communication required for arriving the second data at the destination within the specified time within the communication band other than the first communication band among the communication bands of the network. Secure bandwidth.
- the present disclosure has been made in view of the above points, and is a communication device, a communication system, and a communication control method that facilitate transmission, reception, or transmission / reception of sub data at a cycle shorter than the time required for transmission of the main data. , And the purpose of providing the program.
- the communication device includes a processing unit and a communication unit.
- the communication unit communicates with one or more slaves.
- the processing unit has a function of executing communication processing and setting processing.
- the communication process includes causing the one or more slaves to transmit a frame containing the main data from the communication unit in the first cycle.
- the setting process includes setting a second cycle of N times (N is an integer of 2 or more) within the first cycle.
- the setting process includes setting a slot in which sub data other than the main data is communicated in each second cycle.
- the frame includes at least one slot in the middle of the transmission period of the main data.
- the communication system includes the above-mentioned communication device and the above-mentioned one or more slaves.
- the one or more slaves are connected to the communication device and communicate with the communication device.
- the communication control method includes a communication step and a setting step.
- the communication step includes causing one or more slaves connected to the communication device to transmit a frame containing the main data in the first cycle.
- the setting step includes setting the second cycle of N times (N is an integer of 2 or more) within the first cycle.
- the setting step includes setting a slot for communicating sub data other than the main data in each second cycle.
- the frame includes at least one slot in the middle of the transmission period of the main data.
- the program according to another aspect of the present disclosure causes one or more processors to execute the above-mentioned communication control method.
- the present disclosure has an advantage that it is easy to periodically transmit, receive, or transmit / receive sub data at a cycle shorter than the time required for transmitting the main data.
- FIG. 1 is a block diagram showing an outline of a communication system provided with a communication device according to an embodiment of the present disclosure.
- FIG. 2 is an explanatory diagram of communication processing by the same communication device.
- FIG. 3 is an explanatory diagram of the operation timing of the slave included in the same communication system.
- FIG. 4 is a flowchart of the setting process by the same communication device.
- FIG. 5 is an explanatory diagram of division processing by the same communication device.
- FIG. 6 is an explanatory diagram of communication processing by the communication device of the comparative example.
- FIG. 1 is a block diagram showing an outline of a communication system 100 provided with a communication device 1 according to an embodiment of the present disclosure.
- the communication system 100 includes a communication device 1 and one or more slaves 2 (where n (n is a natural number)) connected to the communication device 1 (21, 22, 23, . ⁇ It is equipped with 2n).
- the communication device 1 is a master corresponding to a higher-level device of one or more slaves 2.
- the communication device 1 and one or more slaves 2 are connected to the same network. Then, one or more slaves 2 are connected to the communication device 1 and communicate with the communication device 1.
- the communication device 1 and the slave 2 of 1 or more are connected to the industrial network.
- the "industrial network” referred to in the present disclosure is, for example, a field network used in factory automation, and is used for communication between a plurality of devices installed in a factory.
- the industrial network may include, for example, Ethernet / IP®, EtherCAT®, PROFINET®, and the like.
- the equipment connected to the industrial network is, for example, a controller (for example, PLC (Programmable Logical Controller), etc.), a sensor (for example, a displacement sensor, a flow meter, a pressure gauge, an image sensor, etc.), or a remote I / O (. Input / Output) and the like may be included.
- the device connected to the industrial network may include, for example, a servo amplifier, an inverter, a robot, an actuator, a valve, or the like.
- Industrial networks are required to be robust, punctual, and real-time compared to standard best-effort networks used in offices and the like. For example, in an industrial network, when control data is periodically transmitted from a controller to a device to be controlled such as a servo amplifier, delay is not allowed as compared with a best effort type network, and delay is not allowed. , It is required to increase the response speed to the control data.
- the communication device 1 includes a processing unit 11 and a communication unit 12.
- the communication unit 12 is a communication interface that communicates with one or more slaves 2.
- the processing unit 11 has a function of executing communication processing and setting processing.
- FIG. 2 is an explanatory diagram of communication processing by the communication device according to the embodiment of the present disclosure.
- the communication process is a process of causing one or more slaves 2 to transmit a frame (communication frame) F1 containing main data from the communication unit 12 in the first cycle CT1. That is, the communication device 1 transmits the main data to one or more slaves 2 in the first period CT1 by executing the communication process.
- the main data may include control data for controlling the slave 2, for example, if the communication device 1 is a controller and one or more slaves 2 are devices to be controlled such as a servo amplifier.
- the first period CT1 is, for example, 0. It is several ms to several ms.
- each slave 2 executes a process according to the received main data. For example, when the main data includes one or more control data corresponding to each of the one or more slaves 2, each slave 2 acquires the corresponding control data included in the main data when the main data is received. Performs processing according to the acquired control data.
- the setting process includes setting the second cycle CT2 in the first cycle CT1.
- the processing unit 11 sets the second cycle CT2 N times (N is an integer of 2 or more) in the first cycle CT1.
- the setting process includes setting a slot S0 for communicating sub data other than the main data for each second cycle CT2. That is, in the first cycle CT1, each of the N times second cycle CT2 includes a slot S0 for communicating sub data other than the main data.
- the processing unit 11 allocates the above slot S0 to at least one slave 2 out of one or more slaves 2 for each second cycle CT2.
- the slave 2 acquires data contained in the corresponding slot S0 (allocated slot S0), or transmits data to another device (communication device 1 or other slave 2) using the corresponding slot S0. It is possible to do it. That is, the slave 2 to which the slot S0 is assigned can periodically receive the sub data by using the slot S0 for each second cycle CT2 separately from the main data transmitted in the first cycle CT1. be. The slave 2 to which the slot S0 is assigned can periodically transmit the sub data separately from the main data by using the slot S0 for each second cycle CT2. That is, in the present embodiment, for example, in the slave 2 connected to the communication device 1, there is an advantage that the sub data can be easily transmitted or received periodically (in the second cycle CT2).
- the processing unit 11 transmits the frame F1 so that at least one slot S0 is included in the middle of the transmission period of the main data in the communication processing.
- at least one slot S0 of the second cycle CT2 is inserted in the middle of the frame F1. Therefore, in the present embodiment, for example, the slave 2 to which slot S0 is assigned periodically transmits sub data in a cycle shorter than the transmission time of the main data (time required for transmission of the main data) (second cycle CT2). It is possible to send, receive, or send and receive. That is, the present embodiment has an advantage that the sub data can be easily transmitted, received, or transmitted / received periodically in a cycle shorter than the time required for transmitting the main data (second cycle CT2).
- a plurality of slaves 2 (here, n units (n is an integer of 1 or more)) are connected to the communication device 1.
- a plurality of slaves 2 (in other words, one or more slaves 2) are daisy-chained to the communication device 1.
- the first slave 21, the second slave 22, the third slave 23, ..., And the nth slave 2n are sequentially connected to the communication device 1 in a ring shape. Therefore, in the present embodiment, the frame F1 transmitted from the communication device 1 is transmitted in the order of the first slave 21, the second slave 22, the third slave 23, ..., The nth slave 2n, and the communication device 1. become.
- one slave 2 of the plurality of slaves 2 is a sensor, and the remaining slave 2 is a servo amplifier.
- at least one slave 2 out of one or more slaves 2 is a motor driving device for driving a motor.
- the communication device 1 is a controller that controls a plurality of slaves 2 (that is, a plurality of servo amplifiers and sensors) individually or as a whole.
- the communication device 1 includes a processing unit 11 and a communication unit 12.
- the communication device 1 stores data in the memory of the processing unit 11, but may have a storage unit separate from the processing unit 11.
- the storage unit is, for example, an electrically rewritable non-volatile memory such as EEPROM (Electrically Erasable Programmable Read-Only Memory), a volatile memory such as RAM (Random Access Memory), or the like.
- the processing unit 11 includes, for example, a computer system.
- the computer system mainly consists of a processor and a memory as hardware.
- the processor executes the program recorded in the memory of the computer system, the function as the processing unit 11 is realized.
- the program may be pre-recorded in the memory of the computer system, may be provided through a telecommunications line, and may be recorded on a non-temporary recording medium such as a memory card, optical disk, hard disk drive, etc. that can be read by the computer system. May be provided.
- the communication unit 12 is a communication interface for communicating with a plurality of slaves 2, and has, for example, a wired communication module compliant with an industrial Ethernet (registered trademark) protocol.
- the communication unit 12 transmits the frame F1 to the communication unit 202 (described later) of the slave 2 (first slave 21 in FIG. 1) in the front stage directly connected to the communication device 1. Further, the communication unit 12 receives the frame F1 transmitted from the communication unit 202 of the slave 2 (nth slave 2n in FIG. 1) at the last stage directly connected to the communication device 1.
- the processing unit 11 has a function of executing communication processing, setting processing, and division processing. Both the setting process and the division process are processes executed before the communication system 100 including the communication device 1 is operated.
- the communication process is a process executed during the operation of the communication system 100 including the communication device 1.
- the division process is a process of dividing the main data into a plurality of main data pieces.
- the main data may include control data for each slave 2 transmitted from the communication device 1 to each slave 2.
- Each divided main data piece may contain some or all of the control data transmitted to at least one slave 2.
- the processing unit 11 divides the main data into a plurality of main data pieces based on the maximum allowable data size ADm div (described later). The details of the division process will be described later in "(3) Setting process".
- the communication process is a process of causing a plurality of slaves 2 to transmit the frame F1 from the communication unit 12 in the first period CT1.
- the first period CT1 is preset in the communication device 1.
- the communication device 1 transmits the frame F1 to the first slave 21, so that the frame F1 is arranged in the order of the first slave 21, the second slave 22, the third slave 23, ..., The nth slave 2n. It is transmitted (see Figure 1).
- the frame F1 is composed of a plurality of divided frames F21, F22, ..., F2 ⁇ ( ⁇ is an integer of 2 or more). That is, in the communication processing, the processing unit 11 (repeatedly) transmits the frame F1 composed of the plurality of divided frames F21, F22, ..., F2 ⁇ in the first cycle CT1.
- a plurality of divided frames F21, F22, ..., F2 ⁇ are not distinguished, they are referred to as “divided frame F2”.
- ⁇ is the number of divisions.
- the number of divisions ⁇ is the number of division frames F2 constituting the frame F1, and is calculated in the setting process as described later.
- the number of divisions ⁇ is equal to the number N of the second cycle CT2 included in the first cycle CT1.
- a plurality of divided frames F21, F22, ..., F2 ⁇ are transmitted from the communication unit 12 to the plurality of slaves 2 in the second cycle CT2 in one first cycle CT1. (See Figure 2).
- the processing unit 11 transmits a plurality of divided frames F21, F22, ..., F2 ⁇ in the second cycle CT2.
- the second period CT2 is set in the setting process as described later.
- each divided frame F2 includes at least a header D100, a sub data area D2, and a footer D101. Further, at least one of the plurality of divided frames F21, F22, ..., F2 ⁇ , the divided frame F2 (in the example of FIG. 2, the divided frames F21, F22, F23) further includes the main data area D1.
- the main data area D1 is an area (slot) used for transmission of the main data (main data piece). That is, the main data is transmitted in the main data area D1.
- the main data area D1 has a plurality of (here, n number of slaves 2) slots D11, D12. , ..., Contains at least a portion of at least one slot of D1n.
- the plurality of slots D11, D12, ..., D1n are assigned to the plurality of slaves 21, 22, ..., 2n, respectively. It is preferable that the main data area D1 of the frame F1 includes all of the n slots D11, D12, ..., D1n corresponding to the n slaves 2.
- the main data area D1 of the divided frame F21 includes slots D11 and D12.
- the main data area D1 of the divided frame F22 includes slots D13 and D14.
- the main data area D1 of the divided frame F23 includes slots D15 and D16. That is, in each of the divided frames F21, F21, and F23 including the main data area D1, the main data area D1 includes the entire of each of the two slots.
- one slot for example, the slot D11 assigned to the first slave 21
- the main data area D1 of the divided frame F21 may include a part of the slot D11
- the main data area D1 of the divided frame F22 may include the remaining part of the slot D11.
- the processing unit 11 divides and transmits a plurality of main data pieces in the second cycle CT2 N times in the communication processing.
- the slave 2 that has received the frame F1 can acquire the main data from the communication device 1 by using the allocated slot in the main data area D1 (for example, the slot D11 in the case of the first slave 21). Is. Specifically, each slave 2 acquires the main data (own control data) for itself from the divided frame F2 including the slot assigned to itself.
- the first slave 21 can acquire the main data (control data of the first slave 21) from the communication device 1 by using the slot D11 of the divided frame F21.
- the third slave 23 can acquire the main data (control data of the third slave 23) from the communication device 1 by using the slot D13 of the divided frame F22.
- the main data may include control data for each slave 2 transmitted from the communication device 1 to each slave 2.
- the main data may include response data to the control data for each slave 2.
- the processing unit 11 includes the data indicating the end timing of the transmission of the main data (hereinafter, also referred to as “synchronous data”) in the frame F1 and transmits the frame F1. That is, the frame F1 may include synchronization data indicating the end timing of transmission of the main data.
- the synchronization data is included in the header D100 of the last divided frame F2 (in the example of FIG. 2, the divided frame F23) including the main data area D1 among the plurality of divided frames F2.
- each division frame F2 the sub data area D2 is divided into a plurality of (here, n) slots D21, D22, ..., D2n.
- Each of the plurality of slots D21, D22, ..., D2n corresponds to the slot S0 set by the setting process, and is assigned to the plurality of slaves 21, 22, ..., 2n, respectively. That is, in the present embodiment, the frame F1 includes the slot S0.
- Each split frame F2 includes slot S0. Slot S0 is set by the setting process.
- the slave 2 that has received the divided frame F2 acquires the sub data included in the allocated slot S0 in the sub data area D2 (for example, the slot D21 in the case of the first slave 21), or uses the slot S0. It is possible to transmit sub-data to another device (communication device 1 or other slave 2).
- the secondary data may include various data transmitted from the slave 2 to the other slave 2. That is, the slot S0 is used for communicating sub data other than the main data. In particular, slot S0 can be used for communication between one or more slaves 2.
- the processing unit 11 updates the main data for each first cycle CT1. Specifically, the processing unit 11 generates the main data to be included in the next frame F1 between the start of the transmission of the frame F1 and the start of the transmission of the next frame F1.
- the processing unit 11 refers to the command information from the host system of the communication device 1 and the response information received from each slave 2 as an example.
- the processing unit 11 generates control data (main data) for controlling each servo amplifier (each slave 2) by referring to the detection information received from the sensor (slave 2). Therefore, the first period CT1 needs to be set to such an extent that the process of generating the main data can be executed, and depends on the processing performance of the processing unit 11.
- the setting process is a process for setting the second period CT2 and the slot S0 used in the communication process. That is, the communication process is executed based on the parameters set in the setting process.
- the processing unit 11 sets the second cycle CT2 N times (N is an integer of 2 or more) in the first cycle CT1.
- the second period CT2 is shorter than the first period CT1.
- the processing unit 11 sets the second cycle CT2 based on at least the first cycle CT1, the data size of the main data, and the data size of the sub data.
- Slot S0 is assigned to slave 2 for each second cycle CT2.
- the processing unit 11 allocates slots S0 to all slaves 2 in each second cycle CT2 (each division frame F2).
- the slot S0 assigned to each slave 2 in the setting process constitutes the above-mentioned sub data area D2. Details of the setting process will be described later in "(3) Setting process".
- the slot length of the slot S0 assigned to each slave 2 may be different depending on the data size.
- the slave 2 includes a processing unit 201 and a communication unit 202. Although the slave 2 stores data in the memory of the processing unit 201, the slave 2 may have a storage unit separately from the processing unit 201.
- the storage unit is, for example, an electrically rewritable non-volatile memory such as EEPROM, a volatile memory such as RAM, or the like.
- the processing unit 201 includes, for example, a computer system.
- the computer system mainly consists of a processor and a memory as hardware.
- the processor executes the program recorded in the memory of the computer system, the function as the processing unit 201 is realized.
- the program may be pre-recorded in the memory of the computer system, may be provided through a telecommunications line, and may be recorded on a non-temporary recording medium such as a memory card, optical disk, hard disk drive, etc. that can be read by the computer system. May be provided.
- the processing unit 201 has a function of executing processing based on the corresponding data (here, control data) among the main data received by the communication unit 202.
- FIG. 3 is an explanatory diagram of operation timing of the slave included in the communication system 100 according to the embodiment of the present disclosure. As shown in FIG. 3, when the processing unit 201 receives the divided frame F2 (divided frame F23 in the example of FIG. 2) including the synchronization data, the processing unit 201 becomes the main data (control data) after the reception of the divided frame F2 is completed. Execute the corresponding processing.
- the processing unit 201 of each slave 2 executes the processing according to the main data in the first period CT1.
- the frame F1 includes data (synchronous data) for controlling the slave 2 in the first period CT1.
- one or more (plural) slaves 2 execute processing according to the main data in synchronization with each other based on the synchronization data.
- the frame F1 contains data (synchronization data) for synchronizing the operations of one or more slaves 2.
- the processing unit 201 has a function of executing processing according to the corresponding data among the sub data received by the communication unit 202. For example, the processing unit 201 executes processing according to the sub-data received in the division frame F2 when a predetermined delay time elapses from the reception time of the header D100 of each division frame F2. See Figure 3).
- the delay time is set to be shorter than, for example, by the time required for processing according to the sub data, but is not limited to this, for example, as compared with the second cycle CT2. Since the divided frame F2 is transmitted in the second cycle CT2 as described above, the processing unit 201 executes the processing according to the sub data in the second cycle CT2.
- the processing unit 201 has a function of executing a process of transmitting the sub data to another device by using the allocated slot S0 in the sub data area D2 of the received divided frame F2.
- the communication unit 202 is a communication interface for communicating with the communication device 1 or another slave 2, and has, for example, a wired communication module compliant with an industrial Ethernet (registered trademark) protocol.
- the communication unit 202 receives the frame F1 (divided frame F2) transmitted from the communication unit 12 of the communication device 1 in the previous stage directly connected to the slave 2 or the communication unit 202 of the slave 2.
- the communication unit 202 transmits the received frame F1 (divided frame F2) to the communication unit 12 of the communication device 1 in the subsequent stage directly connected to the slave 2 or the communication unit 202 of the slave 2.
- the communication unit 202 of the first slave 21 receives the frame F1 transmitted from the communication unit 12 of the communication device 1, and transmits the received frame F1 to the communication unit 202 of the second slave 22. At this time, the communication unit 202 of the first slave 21 may appropriately update the received frame F1 before transmission.
- FIG. 4 is a flowchart of the setting process by the communication device 1 according to the embodiment of the present disclosure.
- the setting process is the process of setting the second period CT2 and the slot S0.
- the setting process is executed by the processing unit 11 by, for example, performing a predetermined operation by the user using the user interface provided in the communication device 1 before operating the communication system 100.
- the user inputs the setting data necessary for executing the setting process into the communication device 1 using the user interface.
- the setting data includes the total data size of the main data, the total data size of the sub data, and the minimum communication cycle CT min .
- the total data size of the main data is the total of all frames of the data size of the main data that can be received by each slave 2.
- the total data size of the sub data is the sum of all frames of the data size of the sub data that can be transmitted, received, or transmitted / received by each slave 2.
- the minimum communication cycle CT min is the minimum communication cycle allowed for communication with one or more slaves 2 by the communication device 1. In the present embodiment, the minimum communication cycle CT min is the longest communication cycle among the communication cycles that can be supported by the plurality of slaves 21, 22, ..., 2n, respectively.
- the setting data is acquired by the communication device 1 from each slave 2 when the communication device 1 and each slave 2 establish communication and the initialization frame is transmitted from the communication device 1 to each slave 2. You may. That is, the communication device 1 acquires setting data from each slave 2 as a response of the initialization frame. In this case, it is assumed that the setting data is set in each slave 2 in advance, for example, by inputting the setting data by the user.
- the processing unit 11 when the setting data is input (ST1), the processing unit 11 first sets the minimum communication cycle CT min as the second cycle candidate CCT2 (ST2). Further, the processing unit 11 calculates the minimum transmission time TTsf of the divided frame F2 (ST3).
- the minimum transmission time TTsf is the transmission time (time required for transmission) of the divided frame F2 including only the header D100, the sub data area D2, and the footer D101. Specifically, the processing unit 11 calculates the minimum transmission time TTsf by performing an operation based on the following equation (1).
- “Dh” represents the data size of the header D100 of the split frame F2
- “Ds” represents the total data size of the sub data
- “Df” represents the data size of the footer D101 of the split frame F2.
- “Tr” is the transfer rate
- “Td1” is the delay time per device
- “Td2” is the communication system. It represents the delay time of 100 as a whole.
- the processing unit 11 compares the minimum transmission time TTsf with the second cycle candidate CCT2 (minimum communication cycle CT min ) (step ST4). When the minimum transmission time TTsf is smaller than the second cycle candidate CCT2 (Yes in step ST4), the processing unit 11 calculates the number of divisions ⁇ (step ST5). Specifically, the processing unit 11 calculates the number of divisions ⁇ by performing an operation based on the following equation (2).
- the number of divisions ⁇ is a quotient calculated by dividing the first period CT1 by the second period candidate CCT2.
- the processing unit 11 calculates the data size Dm div of the divided data obtained by dividing the main data by performing an operation based on the following equation (3) (step ST6).
- the processing unit 11 calculates the required transmission time TTf of the divided frame F2 (step ST7).
- the required transmission time TTf is the transmission time (time required for transmission) of the division frame F2 including the header D100, the transmission area of the divided data calculated in step ST6, the sub data area D2, and the footer D101.
- the processing unit 11 calculates the required transmission time TTf by performing an operation based on the following equation (4).
- the processing unit 11 compares the required transmission time TTf with the second cycle candidate CCT2 (minimum communication cycle CT min ) (step ST8). When the required transmission time TTf is smaller than the second cycle candidate CCT2 (Yes in step ST8), the processing unit 11 sets the second cycle candidate CCT2 (minimum communication cycle CT min ) to the second cycle CT2 (step ST9). ).
- the processing unit 11 sets the second cycle CT2 based on at least the first cycle CT1, the data size Dm of the main data, and the data size Ds of the sub data in the setting process.
- the processing unit 11 adjusts the data size Dm div of the divided data based on the second cycle CT2 and the required transmission time TTf (step ST10).
- the processing unit 11 calculates the allowable maximum data size ADm div of the divided data.
- the maximum allowable data size ADm div is the maximum data size of the divided data that can be allocated to the main data area D1 of one divided frame F2.
- the processing unit 11 calculates the allowable maximum data size ADm div by performing a calculation based on the following equation (5).
- the processing unit 11 After calculating the allowable maximum data size ADm div , the processing unit 11 sets the main data area D1 and the sub data area D2 of each divided frame F2.
- the processing unit 11 of at least one division frame F2 so that the entire main data is transmitted in one of the plurality of division frames F21, F22, ..., F2 ⁇ . Slots D11, D12, ..., D1n are set in the main data area D1.
- the processing unit 11 divides the main data into a plurality of divided data based on, for example, the maximum allowable data size ADm div, thereby generating a plurality of main data pieces.
- FIG. 5 is an explanatory diagram of division processing by the communication device according to the embodiment of the present disclosure.
- the processing unit 11 divides data (main data piece) having an allowable maximum data size ADm div in order from the first divided frame F21 among the plurality of divided frames F21, F22, ..., F2 ⁇ .
- the divided data (main data piece) is assigned to the plurality of divided frames F2 by so-called “preparation”.
- the main data area D1 is set in at least one divided frame F2 among the plurality of divided frames F2.
- the total data size Dm of the main data is larger than twice and smaller than three times the maximum allowable data size ADm div. Therefore, the divided data (main data piece) having the maximum allowable data size ADm div is assigned to the first divided frame F21 and the second divided frame F22. Further, the third divided frame F23 is assigned divided data (main data piece) having a data size smaller than the maximum allowable data size ADm div. Further, since the allocation of all the divided data is completed up to the third divided frame F23, the fourth and subsequent divided frames F24, ... F2 ⁇ do not include the main data area D1.
- step ST10 includes a division process for dividing the main data into a plurality of main data pieces.
- the processing unit 11 sets the sub data area D2 for each set second cycle CT2 (that is, for each divided frame F2).
- the processing unit 11 allocates the slot S0 to each slave 2 for each second cycle CT2 (for each division frame F2). That is, the processing unit 11 allocates slots D21, D22, ..., D2n to slaves 21, 22, ..., 2n, respectively, as slots S0.
- the processing unit 11 sets the slot S0 for each second cycle CT2.
- the processing unit. 11 changes the second period candidate CCT2 to a value larger than the current value.
- the processing unit 11 adds (increments) "1" to the number of iterations "m" whose initial value is set to "1" (step ST11), and sets the second cycle candidate CCT2 to the minimum communication cycle.
- the value is changed (updated) to the value obtained by the product of CT min and the current number of repetitions m (step ST12).
- the processing unit 11 sets a cycle that is an integral multiple of the corresponding communication cycle (minimum communication cycle CT min ) of one or more slaves 2 as the second cycle CT2 in the setting process. It can be said that. Then, the processing unit 11 returns to step ST4, and repeats steps ST11, ST12, and ST4 to ST8 until the required transmission time TTf becomes smaller than the second cycle candidate CCT2 (Yes in step ST8).
- the first period CT1 is 500 ⁇ s.
- the communication system 100 includes three slaves 2 (first slave 21, second slave 22, and third slave 23). That is, in the following description, the number x of the devices (communication device 1 and slave 2) belonging to the communication system 100 is four.
- the data size of the header D100 is 12 bytes (Bytes) and the data size of the footer D101 is 12 bytes (Bytes).
- the transfer rate Tr is 100 Mbps
- the delay time Td1 per slave 2 is 3 ⁇ s
- the delay time Td2 in the entire communication system 100 is 1.5 ⁇ s
- the margin time ⁇ is 3 ⁇ s.
- the communication cycle that can be handled by the first slave 21 and the third slave 23 is the longest, so that the minimum communication cycle CT min is 31. It will be 25 ⁇ s.
- the processing unit 11 sets the minimum communication cycle CT min (31.25 ⁇ s) to the second cycle CT2. Set.
- the processing unit 11 divides the main data into divided data based on the maximum allowable data size ADm div.
- the communication cycle that can be handled by the first slave 21 and the third slave 23 is the longest, so that the minimum communication cycle CT min is 31. It will be 25 ⁇ s.
- the processing unit 11 Since the minimum transmission time TTsf is equal to or longer than the minimum communication cycle CT min (31.25 ⁇ s), the processing unit 11 adds “1” to the number of repetitions “m” whose initial value is “1” to achieve the minimum communication.
- the value (62.5 ⁇ s) obtained by repeating the cycle CT min (31.25 ⁇ s) m times (here, doubled) is set as the second cycle candidate CCT2.
- the processing unit 11 sets the second cycle candidate CCT2 (62.5 ⁇ s) to the second cycle CT2.
- the processing unit 11 divides the main data into divided data based on the maximum allowable data size ADm div.
- the main data is divided into main data pieces (divided). Data).
- FIG. 6 is an explanatory diagram of communication processing by the communication device of the comparative example. As shown in FIG. 6, the communication device of the comparative example causes all the main data to be transmitted from the communication device 1 or the slave 2 in one frame (main frame) F100 regardless of the data size Dm of the main data.
- the slave 2 to which the slot S0 is assigned by the setting process uses the slot S0 for each second cycle CT2 separately from the main data transmitted in the first cycle CT1.
- the slave 2 to which the slot S0 is assigned by the setting process can periodically transmit the sub data separately from the main data by using the slot S0 for each second cycle CT2. That is, in the present embodiment, there is an advantage that the slave 2 connected to the communication device 1 can easily transmit, receive, or transmit / receive sub data periodically. Therefore, the present embodiment has an advantage that it is easy to perform periodic communication that can withstand the use in the industrial network not only for the main data but also for the sub data.
- the transmission of the main data alone occupies more than half of the first cycle CT1 that is, the transmission of the main frame F100 alone occupies the first cycle CT1. It takes more than half the time). In that case, it is difficult to set the second cycle CT2 a plurality of times in the first cycle CT1.
- the frame F1 includes at least one slot S0 in the middle of the transmission period of the main data. Therefore, in the communication device 1 of the present embodiment, for example, the slave 2 to which the slot S0 is assigned periodically transmits, receives, or periodically transmits sub data in a cycle shorter than the transmission time of the main data (second cycle CT2). It is possible to send and receive.
- the slave 2 connected to the communication device 1 can easily transmit, receive, or transmit / receive sub data periodically at a cycle shorter than the time required for transmitting the main data. .. Therefore, the present embodiment has an advantage that it is easier to perform periodic communication that can withstand the use in the industrial network not only for the main data but also for the sub data.
- the above embodiment is only one of the various embodiments of the present disclosure.
- the above-described embodiment can be variously modified depending on the design and the like as long as the object of the present disclosure can be achieved.
- the same function as that of the communication device 1 may be embodied by a communication control method, a (computer) program, a non-temporary recording medium on which the program is recorded, or the like.
- the communication control method includes a communication step and a setting step.
- the communication step is a step of causing one or more slaves 2 connected to the communication device 1 to transmit the frame F1 containing the main data in the first period CT1.
- N times N is an integer of 2 or more
- 2nd cycle CT2 and slot S0 for communicating sub data other than the main data are set in the 1st cycle CT1 for each 2nd cycle CT2. It is a step to do.
- the frame F1 includes at least one slot S0 in the middle of the transmission period of the main data.
- the program according to one aspect causes one or more processors to execute the above-mentioned communication control method.
- the communication device 1 in the present disclosure includes, for example, a computer system in the processing unit 11.
- the computer system mainly consists of a processor and a memory as hardware.
- the processor executes the program recorded in the memory of the computer system, the function as the processing unit 11 in the present disclosure is realized.
- the program may be pre-recorded in the memory of the computer system, may be provided through a telecommunications line, and may be recorded on a non-temporary recording medium such as a memory card, optical disk, hard disk drive, etc. that can be read by the computer system. May be provided.
- the processor of a computer system is composed of one or a plurality of electronic circuits including a semiconductor integrated circuit (IC (Integrated Circuit)) or a large-scale integrated circuit (LSI (Large Scale Integration)).
- the integrated circuit such as IC or LSI referred to here has a different name depending on the degree of integration, and includes an integrated circuit called a system LSI, VLSI (Very Large Scale Integration), or ULSI (Ultra Large Scale Integration).
- an FPGA Field-Programmable Gate Array
- a logic device capable of reconfiguring the junction relationship inside the LSI or reconfiguring the circuit partition inside the LSI should also be adopted as a processor. Can be done.
- a plurality of electronic circuits may be integrated on one chip, or may be distributed on a plurality of chips.
- a plurality of chips may be integrated in one device, or may be distributed in a plurality of devices.
- the computer system referred to here includes a microcontroller having one or more processors and one or more memories. Therefore, the microprocessor is also composed of one or a plurality of electronic circuits including a semiconductor integrated circuit or a large-scale integrated circuit.
- processing unit 11 it is not an essential configuration for the processing unit 11 that a plurality of functions in the processing unit 11 are integrated in one housing.
- the components of the processing unit 11 may be dispersedly provided in a plurality of housings.
- at least a part of the functions of the processing unit 11 may be realized by, for example, a server device, a cloud (cloud computing), or the like.
- all the functions of the processing unit 11 may be integrated in one housing.
- the processing unit 11 of the communication device 1 sets the communication cycle that the slave 2 can handle.
- the communication cycle may be aligned with that of the slave 2 of the above. That is, the compatible communication cycle of the slave 2 is a cycle required when executing a process having a relatively large processing load, such as a process of generating and transmitting data. Therefore, when a process having a relatively small processing load such as a process of simply acquiring data is executed, it is possible to set a short communication cycle that can be handled by the slave 2. In this way, by aligning the compatible communication cycle of the slave 2 with other compatible communication cycles, it is possible to adjust the minimum communication cycle CT min as a result. In other words, the minimum communication cycle CT min may be arbitrarily set.
- the slot S0 may have some variation with respect to a predetermined time. That is, it is preferable that the deviation of the slot S0 is within at least a shorter allowable time than the second cycle CT2.
- the second cycle CT2 for transmitting the divided frame F2 including the main data area D1 if the slave 2 can complete the reception of the slot S0 by the end of the second cycle CT2, the slot S0 is transmitted.
- the timing to start may be any timing. For example, even if the end timing of the main data area D1 is later than the example shown in FIG. 2, the reception of the slot S0 in each slave 2 is completed by the end of the second cycle CT2. For example, a time lag in the timing of starting transmission in slot S0 is allowed.
- the order of the main data area D1 and the sub data area D2 in the divided frame F2 is not limited to the case where the main data area D1 comes first, and the sub data area D2 may come first.
- the second cycle CT2 is set to an integral multiple (m times the number of repetitions) of the least common multiple of the communication cycles that can be supported. It is set, but it is not limited to this.
- some slaves 2 may be excluded from the allocation target of the slot S0. For example, if only one type of slave 2 out of a plurality of types of slaves 2 is to be allocated to slot S0, the second cycle CT2 will be set to a communication cycle that can be handled by this type of slave 2. ..
- the calculated second cycle CT2 is set as it is as the second cycle CT2. May be.
- the period of the remainder may be included in the first period CT1 in addition to the N times of the second period CT2.
- the slave 2 is not limited to the motor drive device, but may be another device such as a sensor.
- the plurality of slaves 2 may not include the motor drive device.
- all slaves 2 may be sensors.
- the number of slaves 2 belonging to the communication system 100 may be one.
- the communication device 1 can acquire the sub data transmitted from the slave 2 in the second cycle CT2 while generating the main data for each first cycle CT1.
- the communication device 1 communicates with each slave 2 by wire using a wired communication module, but the present invention is not limited to this. In one modification, the communication device 1 may wirelessly communicate with each slave 2 using a wireless communication module.
- the processing unit 201 of the slave 2 may transmit data other than the sub data from the communication unit 202, for example, by using the free area excluding the divided frame F2 in the second cycle CT2.
- the other data is, for example, data having a larger data size than the control data included in the main data, and is an image used for monitoring or managing the manufacturing process in a production line or a factory. Etc. may be included. Unlike the main data and the sub data, the other data does not need to be punctual and real-time.
- the processing unit 11 of the communication device 1 does not transmit the sub data to each slave 2 in the communication processing, but the sub data may be transmitted to each slave 2. That is, if the processing performance of the processing unit 11 has a margin, the processing unit 11 executes the process of generating the sub data in parallel with the process of generating the main data, and the generated sub data is sent to each slave 2. It is possible to send.
- the method for updating the second cycle candidate CCT2 is not limited to the method using the product of the minimum communication cycle CT min and the number of repetitions m.
- the input of the second cycle candidate CCT2 may be accepted from the user, or a value twice the current value of the second cycle candidate CCT2 may be used as the updated second cycle candidate CCT2.
- the processing unit 11 may divide the main data into a plurality of divided data (main data pieces) with the slave 2 as a unit in the divided process.
- the processing unit 11 uses the main data as divided data including the control data of the first slave 21, the divided data including the control data of the second slave 22, ..., The divided data including the control data of the nth slave 2. , Divide into n divided data.
- the processing unit 11 includes the main data as divided data including the control data of the first slave 21 and the control data of the second slave 22, the control data of the third slave 23, and the control data of the fourth slave 24.
- each of the plurality of divided data may include control data for at least one slave 2.
- the transmission time of the divided frame F2 including the header D100, the divided data transmission area, the sub data area D2, and the footer D101 .
- the processing unit 11 may return to step ST11 and set (update) the second cycle CT2 again.
- the processing unit 11 does not have to use the slave 2 as a unit when dividing the main data into a plurality of main data pieces in the division processing as in the above-described embodiment.
- the processing unit 11 when the main data is divided into a plurality of main data pieces in advance, the processing unit 11 does not have to perform the division processing.
- the processing unit 11 does not have to perform the process of readjusting the data size of the divided data (step ST10).
- the processing unit 11 may divide the main data into divided data (main data pieces) based on the data size Dm div of the divided data calculated in step ST6.
- the data size of each of the plurality of main data pieces may be arbitrarily set within a range that can be transmitted in the second period CT2.
- the processing unit 11 may divide the main data into divided data having a data size smaller than the allowable maximum data size ADm div.
- the plurality of slaves 2 do not have to execute processing according to the main data in synchronization with each other.
- the first slave 21 and the second slave 22 may execute the processing according to the main data without waiting for the transmission of the divided frame F22. good.
- the second cycle CT2 in the first cycle CT1 which is different from each other, may be set to different values. That is, the second cycle CT2 may be variable for each first cycle CT1. However, it is preferable to obtain each of the second period CT2s different from each other before operating the communication system 100.
- the first slave 21, the second slave 22, the third slave 23, ..., And the nth slave 2n may be connected in order to the communication device 1 in a line shape.
- the frame F1 transmitted from the communication device 1 is transmitted in the order of the first slave 21, the second slave 22, the third slave 23, ..., And the nth slave 2n.
- the communication device (1) of the first aspect includes a processing unit (11) and a communication unit (12).
- the communication unit (12) communicates with one or more slaves (2).
- the processing unit (11) has a function of executing communication processing and setting processing.
- the communication process includes causing one or more slaves (2) to transmit a frame (F1) containing the main data from the communication unit (12) in the first cycle (CT1).
- the setting process includes setting the second cycle (CT2) of N times (N is an integer of 2 or more) within the first cycle (CT1).
- the setting process includes setting a slot (S0) in which sub data other than the main data is communicated for each second cycle (CT2).
- the frame (F1) includes at least one slot (S0) in the middle of the transmission period of the main data.
- At least one of periodic transmission and reception of sub data is possible in a cycle shorter than the transmission time of the main data (second cycle (CT2)). Therefore, in this aspect, there is an advantage that the sub data can be easily transmitted or received periodically at a cycle shorter than the time required for transmitting the main data.
- CT2 second cycle
- the setting process is slotted in at least one slave (2) of one or more slaves (2) every second cycle (CT2). Includes assigning S0).
- the slave (2) to which the slot (S0) is assigned can periodically transmit, receive, or transmit / receive sub data using the slot (S0).
- the frame (F1) contains data for controlling one or more slaves (2) in the first cycle (CT1).
- the frame (F1) contains data for synchronizing the operations of one or more slaves (2).
- one or more slaves (2) are daisy-chained to the communication device (1).
- the communication device (1) since the communication device (1) needs to transmit the frame (F1) only to the slave (2) directly connected to the communication device (1) among the one or more slaves (2). It is easy to reduce the processing load of the communication device (1).
- the main data includes a plurality of main data pieces.
- the processing unit (11) divides and transmits a plurality of main data pieces in the second cycle (CT2) of N times.
- the processing unit (11) further has a function of executing a division process of dividing the main data into a plurality of main data pieces.
- the main data can be divided into a plurality of main data pieces, and the plurality of main data pieces can be divided and transmitted in the second cycle (CT2) of N times, and the frame (F1) can be transmitted.
- CT2 the second cycle
- F1 the frame
- the process of inserting the slot (S0) of the second cycle (CT2) in the middle of the transmission period becomes easy.
- the data size of each of the plurality of main data pieces is arbitrarily set within the range that can be transmitted in the second cycle (CT2).
- the mode of dividing the main data piece can be arbitrarily set.
- the processing unit (11) has at least the first cycle (CT1) in the setting process, and the data size of the main data ( The second period (CT2) is set based on Dm) and the data size (Ds) of the sub data.
- CT1 the second cycle included in the first cycle
- CT1 the number of times of transmission, reception, or transmission / reception of sub data in the first cycle (CT1) is set. It is possible to do more.
- the processing unit (11) has a communication cycle of one or more slaves (2) in the setting process.
- a cycle that is an integral multiple is set as the second cycle (CT2).
- At least one slave (2) of one or more slaves (2) is a motor drive for driving a motor. It is a device.
- the communication system (100) according to the twelfth aspect includes a communication device (1) according to any one of the first to eleventh aspects and one or more slaves (2).
- One or more slaves (2) are connected to the communication device (1) and communicate with the communication device (1).
- the sub data can be easily transmitted, received, or transmitted / received periodically at a cycle shorter than the time required for transmitting the main data.
- the communication control method includes a communication step and a setting step.
- the communication step includes causing one or more slaves (2) connected to the communication device (1) to transmit a frame (F1) containing the main data in the first cycle (CT1).
- the setting step includes setting the second cycle (CT2) of N times (N is an integer of 2 or more) within the first cycle (CT1).
- the setting step includes setting a slot (S0) for communicating sub data other than the main data every N times of the second cycle (CT2).
- the frame (F1) includes at least one slot (S0) in the middle of the transmission period of the main data.
- the sub data can be periodically transmitted, received, or transmitted / received in a cycle shorter than the transmission time of the main data (second cycle (CT2)). Therefore, this aspect has an advantage that the sub data can be easily transmitted, received, or transmitted / received periodically at a cycle shorter than the time required for transmitting the main data.
- CT2 second cycle
- the program according to the fourteenth aspect causes one or more processors to execute the communication control method of the thirteenth aspect.
- the sub data can be periodically transmitted, received, or transmitted / received in a cycle shorter than the transmission time of the main data (second cycle (CT2)). Therefore, this aspect has an advantage that the sub data can be easily transmitted, received, or transmitted / received periodically at a cycle shorter than the time required for transmitting the main data.
- CT2 second cycle
- the present disclosure is suitable for communication devices, communication systems, communication control methods, and programs that need to transmit or receive sub data within a predetermined time while periodically transmitting sub data.
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Abstract
Description
図1は、本開示の実施形態に係る通信装置1を備えた通信システム100の概要を示すブロック図である。通信システム100は、図1に示すように、通信装置1と、通信装置1に接続される1以上(ここでは、n(nは自然数)台)のスレーブ2(21,22,23,・・・2n)とを備える。通信装置1は、1以上のスレーブ2の上位装置に相当するマスタである。通信装置1及び1以上のスレーブ2は、同一のネットワークに接続されている。そして、1以上のスレーブ2は、通信装置1に接続されて通信装置1と通信する。
以下、本実施形態の通信装置1を備えた通信システム100について図1を用いて詳細に説明する。本実施形態では、通信装置1には、複数(ここでは、n台(nは1以上の整数))のスレーブ2が接続されている。複数のスレーブ2(言い換えれば、1以上のスレーブ2)は、通信装置1に対してデイジーチェーン(daisy chain)接続されている。具体的には、通信装置1には、第1スレーブ21、第2スレーブ22、第3スレーブ23、…、第nスレーブ2nが順にリング状に接続されている。このため、本実施形態では、通信装置1から送信されるフレームF1は、第1スレーブ21、第2スレーブ22、第3スレーブ23、…、第nスレーブ2n、通信装置1の順に伝送されることになる。
以下、通信装置1の処理部11で実行される設定処理について、図4を用いて詳細に説明する。図4は、本開示の実施形態に係る通信装置1による設定処理のフローチャートである。
以下、設定処理の具体例について説明する。以下の説明では、第1周期CT1は500μsである、と仮定する。また、以下の説明では、通信システム100が3台のスレーブ2(第1スレーブ21、第2スレーブ22、及び第3スレーブ23)を備えている、と仮定する。つまり、以下の説明では、通信システム100に属する機器(通信装置1及びスレーブ2)の台数xは4台である。以下の説明では、ヘッダD100のデータサイズが12バイト(Bytes)、フッタD101のデータサイズが12バイト(Bytes)である、と仮定する。以下の説明では、転送レートTrが100Mbps、スレーブ2の1台あたりの遅延時間Td1が3μs、通信システム100全体での遅延時間Td2が1.5μs、余裕時間αが3μsである、と仮定する。
上述の実施形態は、本開示の様々な実施形態の1つにすぎない。上述の実施形態は、本開示の目的を達成できれば、設計等に応じて種々の変更が可能である。通信装置1と同様の機能は、通信制御方法、(コンピュータ)プログラム、又はプログラムを記録した非一時的記録媒体等で具現化されてもよい。
以上説明した実施形態及び変形例等から以下の態様が開示されている。
11 処理部
12 通信部
2 スレーブ
100 通信システム
CT1 第1周期
CT2 第2周期
F1 フレーム
S0 スロット
Claims (14)
- 処理部と、
1以上のスレーブと通信する通信部と、
を備え、
前記処理部は、
前記1以上のスレーブに対して、主データを含むフレームを前記通信部から第1周期で送信させる通信処理と、
前記第1周期内にN回(Nは2以上の整数)の第2周期、及び前記第2周期ごとに前記主データ以外の副データの通信が行われるスロット、を設定する設定処理と、
を実行する機能を有し、
前記フレームは、前記主データの送信期間の途中に前記スロットを少なくとも1つ含む、
通信装置。 - 前記設定処理は、前記第2周期ごとに前記1以上のスレーブのうちの少なくとも1つのスレーブに前記スロットを割り当てることを含む、
請求項1に記載の通信装置。 - 前記フレームは、前記第1周期で前記1以上のスレーブを制御するためのデータを含む、
請求項1又は2に記載の通信装置。 - 前記フレームは、前記1以上のスレーブの動作を同期させるためのデータを含む、
請求項1~3のいずれか1項に記載の通信装置。 - 前記1以上のスレーブは、前記通信装置に対してデイジーチェーン接続されている、
請求項1~4のいずれか1項に記載の通信装置。 - 前記主データは、複数の主データ片を含み、
前記処理部は、前記通信処理において、前記複数の主データ片を前記N回の第2周期で分割して送信する、
請求項1~5のいずれか1項に記載の通信装置。 - 前記処理部は、前記主データを前記複数の主データ片に分割する分割処理を実行する機能を、更に有する、
請求項6に記載の通信装置。 - 前記複数の主データ片の各々のデータサイズは、前記第2周期で送信可能な範囲で設定される、
請求項7に記載の通信装置。 - 前記処理部は、前記設定処理において、少なくとも前記第1周期、前記主データのデータサイズ、及び前記副データのデータサイズのうちの一つに基づいて、前記第2周期を設定する、
請求項6~8のいずれか1項に記載の通信装置。 - 前記処理部は、前記設定処理において、前記1以上のスレーブの対応可能な通信周期の整数倍の周期を前記第2周期として設定する、
請求項1~9のいずれか1項に記載の通信装置。 - 前記1以上のスレーブのうちの少なくとも1つのスレーブは、モータを駆動させるモータ駆動装置である、
請求項1~10のいずれか1項に記載の通信装置。 - 請求項1~11のいずれか1項に記載の通信装置と、
前記通信装置に接続されて前記通信装置と通信する前記1以上のスレーブと、を備える、
通信システム。 - 通信装置に接続される1以上のスレーブに対して、主データを含むフレームを第1周期で送信させる通信ステップと、
前記第1周期内にN回(Nは2以上の整数)の第2周期、及び前記第2周期ごとに前記主データ以外の副データの通信を行うためのスロット、を設定する設定ステップと
を含み、
前記フレームは、前記主データの送信期間の途中に前記スロットを少なくとも1つ含む、
通信制御方法。 - 1以上のプロセッサに、請求項13記載の通信制御方法を実行させる、プログラム。
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US6317415B1 (en) * | 1998-09-28 | 2001-11-13 | Raytheon Company | Method and system for communicating information in a network |
JP2014053741A (ja) * | 2012-09-06 | 2014-03-20 | Denso Corp | 通信システム |
JP2018064245A (ja) | 2016-10-14 | 2018-04-19 | オムロン株式会社 | 通信装置、制御装置および通信方法 |
JP2019139630A (ja) * | 2018-02-14 | 2019-08-22 | オムロン株式会社 | 制御装置、制御システム、制御方法、および、制御プログラム |
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US9946672B2 (en) * | 2015-08-28 | 2018-04-17 | Cirrus Logic, Inc. | Transfer for control data over half-duplex link |
EP4084417A4 (en) * | 2019-12-25 | 2023-02-08 | Panasonic Intellectual Property Management Co., Ltd. | COMMUNICATION DEVICE, COMMUNICATION SYSTEM, COMMUNICATION CONTROL METHOD, AND PROGRAM |
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US6317415B1 (en) * | 1998-09-28 | 2001-11-13 | Raytheon Company | Method and system for communicating information in a network |
JP2014053741A (ja) * | 2012-09-06 | 2014-03-20 | Denso Corp | 通信システム |
JP2018064245A (ja) | 2016-10-14 | 2018-04-19 | オムロン株式会社 | 通信装置、制御装置および通信方法 |
JP2019139630A (ja) * | 2018-02-14 | 2019-08-22 | オムロン株式会社 | 制御装置、制御システム、制御方法、および、制御プログラム |
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EP4187857A1 (en) | 2023-05-31 |
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