WO2022202390A1 - マスターユニット - Google Patents
マスターユニット Download PDFInfo
- Publication number
- WO2022202390A1 WO2022202390A1 PCT/JP2022/010777 JP2022010777W WO2022202390A1 WO 2022202390 A1 WO2022202390 A1 WO 2022202390A1 JP 2022010777 W JP2022010777 W JP 2022010777W WO 2022202390 A1 WO2022202390 A1 WO 2022202390A1
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- WO
- WIPO (PCT)
- Prior art keywords
- unit
- connector
- processing circuit
- master
- communication coupler
- Prior art date
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- 238000012545 processing Methods 0.000 claims abstract description 101
- 238000004891 communication Methods 0.000 description 72
- 238000010586 diagram Methods 0.000 description 4
- 210000000078 claw Anatomy 0.000 description 2
- 238000012937 correction Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000011144 upstream manufacturing Methods 0.000 description 1
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Classifications
-
- 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
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/054—Input/output
-
- 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
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
-
- 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
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
-
- 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
- G05B2219/00—Program-control systems
- G05B2219/10—Plc systems
- G05B2219/11—Plc I-O input output
- G05B2219/1105—I-O
-
- 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
- G05B2219/00—Program-control systems
- G05B2219/10—Plc systems
- G05B2219/12—Plc mp multi processor system
- G05B2219/1215—Master slave system
Definitions
- the present invention relates to a master unit that transmits signals to devices via I/O units.
- Japanese Patent Application Laid-Open No. 2016-110460 discloses a programmable logic controller system.
- This programmable logic controller system includes a basic unit serving as a master, a plurality of expansion units (electronic devices) serving as slaves, and a device to be controlled.
- the base unit sends and receives signals to the controlled device through the expansion unit.
- a plurality of expansion units are arranged in series with the master unit leading.
- a controlled device is, for example, a device such as a sensor or an actuator.
- the master unit is also called a communication coupler unit (or simply coupler).
- a typical communication coupler unit includes a master processing circuit, connectors (two connectors), and a power supply.
- the master processing circuit is a circuit responsible for signal processing regarding communication with the slave unit.
- the two connectors are a connector for front-stage connection and a connector for rear-stage connection.
- the pre-connection connector can be connected to a control device that controls the communication coupler unit or another communication coupler unit.
- the post-connection connector can be connected to another communication coupler unit. Therefore, it is possible to daisy-chain a plurality of communication coupler units.
- the design of the master processing circuit differs depending on the application or purpose.
- the optimal master processing circuit configuration differs for each type of industrial network.
- the configuration of the master processing circuit differs depending on, for example, safety/non-safety (with/without redundancy). The operator can appropriately use the master unit having the optimum master processing circuit according to his/her purpose.
- the connectors described above can be used in industrial network types, with or without redundancy.
- the power supply can also be used with or without industrial network type, or with or without redundancy.
- the specifications of parts other than the master processing circuit may be changed.
- the connector, power supply section, and master processing circuit may be modularized. In other words, the master processing circuit is often integrated with the connector and the power supply. In this case, it is not easy for the operator to change the specifications while maintaining the master processing circuit.
- An object of the present invention is to solve the above-described problems.
- An aspect of the present invention is a master unit connected to an I/O unit to which a device is connected and transmitting signals to and from the device via the I/O unit.
- a first connector a tributary terminal for connecting to the I/O unit provided at a later stage, a master processing circuit connected to the first connector and the tributary terminal, and supplying power to the master processing circuit a power supply section
- the master unit is a connector module having the first connector and the power supply section, and a module divided from the connector module and having the tributary terminal and the master processing circuit.
- a signal processing module, and the connector module and the signal processing module are provided with a connection terminal section for connecting the first connector and the power supply section to the master processing circuit.
- a master unit is provided in which the connector and the power supply section can be easily changed.
- FIG. 1 is a diagram showing a communication system according to a reference example of the present invention.
- FIG. 2 is a diagram showing a communication coupler unit according to an embodiment of the invention.
- FIG. 1 is a diagram showing a communication system 100 according to a reference example of the present invention.
- the communication system 100 is a system that transmits signals between the control device 102 and the equipment 104 .
- the equipment 104 is provided in a mechanical device. Mechanical devices are, for example, machine tools or robots.
- Devices 104 include an output device 104a and an input device 104b.
- the output device 104a is, for example, an actuator such as a switch.
- the control device 102 sends a control signal to the output device 104a via the communication system 100 when driving the output device 104a.
- the input device 104b is a sensor that detects pressure, voltage, current, or the like, for example.
- the control device 102 acquires the detection signal from the input device 104b via the communication system 100.
- the communication system 100 has a plurality of communication coupler units 106 (106a, 106b) and a plurality of I/O units 108.
- the multiple I/O units 108 consist of multiple I/O units 108a and multiple I/O units 108b.
- a plurality of I/O units 108a are sequentially connected to the rear stage of the communication coupler unit 106a. That is, the communication coupler unit 106a is the master unit of the plurality of I/O units 108a, and each of the plurality of I/O units 108a is the slave unit of the communication coupler unit 106a.
- a plurality of I/O units 108b are sequentially connected to the rear stage of the communication coupler unit 106b. That is, the communication coupler unit 106b is the master unit of the plurality of I/O units 108b, and each of the plurality of I/O units 108b is the slave unit of the communication coupler unit 106b.
- Each of the plurality of communication coupler units 106 has a master processing circuit 16, a tributary terminal 18, a power supply section 20, a first connector 22, a second connector 24, and a housing 110.
- the housing 110 accommodates the master processing circuit 16 , the tributary terminals 18 , the power supply section 20 , the first connector 22 and the second connector 24 .
- the master processing circuit 16 includes, for example, a CPU (Central Processing Unit). However, master processing circuit 16 may comprise an ASIC (Application Specific Integrated Circuit), PLD (Programmable Logic Device), or FPGA (Field Programmable Logic Gate Array).
- ASIC Application Specific Integrated Circuit
- PLD Programmable Logic Device
- FPGA Field Programmable Logic Gate Array
- the power supply unit 20 supplies power to the master processing circuit 16 .
- the power supply section 20 may supply power to multiple I/O units 108 .
- Each of the first connector 22 and the second connector 24 is a connector for connecting with the control device 102 or another communication coupler unit 106 .
- the first connector 22 and the second connector 24 are connected to the master processing circuit 16 .
- the first connector 22 of the communication coupler unit 106a is connected to the control device 102. Also, the second connector 24 of the communication coupler unit 106a is connected to the first connector 22 of the communication coupler unit 106b. Thereby, the main flow line La shown in FIG. 1 is formed.
- the main flow line La follows the control device 102, the master processing circuit 16 of the communication coupler unit 106a, and the master processing circuit 16 of the communication coupler unit 106b in this order.
- the tributary terminal 18 is a terminal connected to the I/O unit 108 .
- Tributary terminal 18 is connected to master processing circuit 16 .
- Each of the plurality of I/O units 108 has a slave processing circuit 112 , an interface 114 , a front-stage branch terminal 116 , a rear-stage branch terminal 118 , and a housing 120 .
- the housing 120 accommodates the slave processing circuit 112 , the interface 114 , the front-stage tributary terminal 116 , and the rear-stage tributary terminal 118 .
- the slave processing circuit 112 includes, for example, a CPU (Central Processing Unit). However, the slave processing circuit 112 may include an ASIC (Application Specific Integrated Circuit), PLD (Programmable Logic Device), FPGA (Field Programmable Logic Gate Array), or the like. The slave processing circuit 112 inputs and outputs signals to and from the master processing circuit 16 .
- ASIC Application Specific Integrated Circuit
- PLD Programmable Logic Device
- FPGA Field Programmable Logic Gate Array
- the interface 114 is hardware (circuit, electronic component group) that connects the slave processing circuit 112 and the device 104 .
- Slave processing circuit 112 and device 104 input and output signals to and from each other via interface 114 .
- a specific configuration of the interface 114 varies depending on the type of device 104 .
- a plurality of I/O units 108 are connected to a plurality of devices 104 .
- a plurality of I/O units 108 in FIG. 1 are connected to devices 104 different from each other. However, multiple devices 104 may be connected to one I/O unit 108 .
- the front-stage branch terminal 116 is a terminal for connecting to another unit provided at the front stage of the I/O unit 108 .
- Other units provided before the I/O unit 108 are, for example, the communication coupler unit 106 or other I/O units 108 .
- the post-stage branch terminal 118 is a terminal for connecting to another I/O unit 108 provided in the post-stage of the I/O unit 108 .
- the front-stage tributary terminal 116 and the rear-stage tributary terminal 118 are connected to each other via the slave processing circuit 112 .
- the upstream branch terminal 116 of the I/O unit 108 is connected to the branch terminal 18 of the communication coupler unit 106 .
- the slave processing circuit 112 of the I/O unit 108 is connected to the master processing circuit 16 of the communication coupler unit 106 provided in the preceding stage of the I/O unit 108 .
- the front-stage branch terminal 116 of the I/O unit 108 may be connected to the rear-stage branch terminal 118 of another I/O unit 108 .
- tributary lines Lb1, Lb2 in which the master processing circuit 16 of the communication coupler unit 106 and the slave processing circuits 112 of the plurality of I/O units 108 are sequentially connected are formed.
- control device 102 When the control device 102 sends a control signal to the device 104, the control device 102 outputs the control signal to the communication coupler unit 106a connected in the first stage (first) as seen from itself.
- This control signal includes address information and the like of the I/O unit 108 to which the destination device 104 is connected.
- the master processing circuit 16 of the communication coupler unit 106a determines whether the address information included in the control signal indicates any one of the plurality of I/O units 108a. If the address information does not indicate any of the plurality of I/O units 108a, the master processing circuit 16 of the communication coupler unit 106a outputs a control signal to the master processing circuit 16 of the communication coupler unit 106b.
- the master processing circuit 16 of the communication coupler unit 106a When the address information indicates one of the plurality of I/O units 108a, the master processing circuit 16 of the communication coupler unit 106a outputs a control signal to the subsequent I/O unit 108a.
- the slave processing circuit 112 of the I/O unit 108a to which the control signal is input from the previous stage determines whether the address information included in the input control signal indicates itself.
- the slave processing circuit 112 of the I/O unit 108a outputs a control signal to the device 104 connected thereto. This causes the device 104 to operate.
- the I/O unit 108a outputs the control signal to the subsequent I/O unit 108a.
- the I/O unit 108 may output the control signal to the subsequent I/O unit 108 when the address information included in the control signal indicates itself. Further, when the address information included in the control signal indicates the I/O unit 108 connected thereto, the communication coupler unit 106 may output the control signal to the subsequent communication coupler unit 106 .
- the device 104 may output a signal toward the control device 102 .
- the signal of device 104 is input to slave processing circuit 112 of I/O unit 108 to which device 104 is connected.
- the slave processing circuit 112 sends a signal input from the device 104 connected thereto to the control device 102 .
- the slave processing circuit 112 outputs a signal to the I/O unit 108 or communication coupler unit 106 connected to its previous stage.
- the slave processing circuit 112 includes in the output signal the content output by the device 104 and the address information of the I/O unit 108 that output the signal. Since the input/output of signals between the communication coupler unit 106 and the I/O unit 108 is a well-known technique, further explanation is omitted.
- the master processing circuit 16 has a plurality of variations as described above.
- the master processing circuit 16 has a different optimal configuration for each industrial network.
- Industrial networks are, for example, Ethernet, Profinet or EtherCAT.
- the configuration of the master processing circuit 16 is also different from the viewpoint of safety network use/non-safety network use (with/without redundancy).
- the configuration of the first connector 22 tends not to be changed in any communication coupler unit 106.
- An example is a first communication coupler unit 106 with a master processing circuit 16 for eg Profinet and a second communication coupler unit 106 with a master processing circuit 16 for EtherCAT.
- the first connector 22 of the first communication coupler unit 106 and the first connector 22 of the second communication coupler unit 106 are often of the same type.
- the power supply section 20 and the second connector 24 are also often of the same type in a plurality of communication coupler units 106 .
- the master processing circuit 16 the power supply unit 20, the first connector 22, and the second connector 24 are configured as an integrated module. Therefore, it is not easy for the operator to disassemble the communication coupler unit 106 or replace parts.
- the communication coupler unit 10 of the present embodiment will be described below. Components similar to those described in the reference example are denoted by the same reference numerals, and descriptions thereof are omitted, and portions different from the reference example are mainly described.
- FIG. 2 is a diagram showing the communication coupler unit 10 according to the embodiment of the present invention.
- the communication coupler unit (master unit) 10 is composed of a plurality of separable modules. That is, the communication coupler unit 10 has a signal processing module 12 and a connector module 14 .
- the signal processing module 12 has a master processing circuit 16 and a tributary terminal 18 . Within signal processing module 12 , master processing circuit 16 is connected to tributary terminal 18 .
- the connector module 14 has a power supply section 20 , a first connector 22 and a second connector 24 .
- connection terminal portion 26 is a terminal portion (terminal group, connector) for interconnecting the signal processing module 12 and the connector module 14 .
- connection terminal section 26 has a terminal (terminal group) for the power supply section 20, a terminal (terminal group) for the first connector 22, and a terminal (terminal group) for the second connector 24. Also, the connection terminal section 26 of the signal processing module 12 is connected to the master processing circuit 16 . On the other hand, the connection terminal portion 26 of the connector module 14 is connected to the power supply portion 20 , the first connector 22 and the second connector 24 .
- connection terminal portion 26 of the signal processing module 12 and the connection terminal portion 26 of the connector module 14 can be connected to each other.
- the connection terminal portion 26 of the signal processing module 12 and the connection terminal portion 26 of the connector module 14 are fitted to each other. Thereby, the connection terminal portion 26 of the signal processing module 12 and the connection terminal portion 26 of the connector module 14 are connected to each other.
- terminals for the power supply unit 20 are connected to each other.
- the terminals for the first connector 22 are connected together.
- the terminals for the second connector 24 are connected together.
- each of the power supply section 20 , the first connector 22 , the second connector 24 of the connector module 14 and the master processing circuit 16 of the signal processing module 12 are connected through the connection terminal section 26 .
- the communication coupler unit 10 can be installed instead of the communication coupler unit 106. In that case, the signal processing module 12 and the connector module 14 are connected. A controller 102 is connected to the first connector 22 of the connector module 14 . Another communication coupler unit 10 is connected to the second connector 24 . Thereby, the control device 102, the communication coupler unit 10 (master processing circuit 16), and another communication coupler unit 10 (master processing circuit 16) are connected. Also, a plurality of I/O units 108 are sequentially connected to the tributary terminals 18 of the signal processing module 12 . Thereby, the communication coupler unit 10 (master processing circuit 16) and the plurality of I/O units 108 (slave processing circuits 112) are connected. The second connector 24 may be left open.
- another communication coupler unit 10 does not have to be installed after the communication coupler unit 10 .
- the second connector 24 of the communication coupler unit 10 is open.
- the communication coupler unit 106 may be used as another communication coupler unit 10 installed in the subsequent stage of the communication coupler unit 10 .
- the signal processing module 12 and the connector module 14 can be easily separated by disconnecting the connection terminal portions 26 from each other. Therefore, when the specifications of the power supply unit 20, the first connector 22, and the second connector 24 are changed, the operator simply reconnects the new connector module 14 to the signal processing module 12, thereby facilitating the change work. achievable.
- the second connector 24 itself may be omitted from the connector module 14 if it is unnecessary to provide another communication coupler unit 10 in the subsequent stage of the communication coupler unit 10 .
- the signal processing module 12 and the connector module 14 may be provided with an engagement mechanism for fitting them together.
- the engagement mechanism has, for example, a claw and a groove in which the claw is caught.
- the connecting terminal portions 26 themselves do not have to have a fitting structure as long as they can be electrically connected to each other.
- This provides a master unit in which the first connector and power supply can be easily changed.
- the connector module may further include a second connector (24) to which another master unit is connected, and the connection terminal portion may further connect the second connector and the master processing circuit. This makes it possible to connect another master unit to the rear stage of the master unit.
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Programmable Controllers (AREA)
- Cable Transmission Systems, Equalization Of Radio And Reduction Of Echo (AREA)
Abstract
Description
図1は、本発明の参考例に係る通信システム100を表す図である。
マスター処理回路16は、例えばCPU(中央処理装置)を含む。ただし、マスター処理回路16は、ASIC(特定用途向け集積回路)、PLD(プログラマブルロジックデバイス)、またはFPGA(フィールドプログラマブルロジックゲートアレー)を含んでもよい。
スレーブ処理回路112は、例えばCPU(中央処理装置)を含む。ただし、スレーブ処理回路112は、ASIC(特定用途向け集積回路)、PLD(プログラマブルロジックデバイス)、またはFPGA(フィールドプログラマブルロジックゲートアレー)等を含んでもよい。スレーブ処理回路112は、マスター処理回路16と信号の入出力を行う。
上記実施の形態から把握しうる発明について、以下に記載する。
Claims (2)
- 機器(104)が接続されたI/Oユニット(108)と接続され、前記I/Oユニットを介して前記機器と信号を伝送するマスターユニット(10)であって、
制御装置(102)または他のマスターユニット(10)と接続するための第1コネクタ(22)と、
後段に設けられた前記I/Oユニットと接続するための支流端子(18)と、
前記第1コネクタおよび前記支流端子と接続されたマスター処理回路(16)と、
前記マスター処理回路に電力を供給する電源部(20)と、
を備え、
前記マスターユニットは、前記第1コネクタと前記電源部とを有するコネクタモジュール(14)と、前記コネクタモジュールとは分割されたモジュールであって前記支流端子と前記マスター処理回路とを有する信号処理モジュール(12)とを有し、
前記コネクタモジュールおよび前記信号処理モジュールには、前記第1コネクタおよび前記電源部と前記マスター処理回路とを接続する接続端子部(26)が設けられている、マスターユニット。 - 請求項1に記載のマスターユニットであって、
前記コネクタモジュールは、他の前記マスターユニットが接続される第2コネクタ(24)をさらに有し、
前記接続端子部は、前記第2コネクタと前記マスター処理回路とをさらに接続する、マスターユニット。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
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EP22775182.3A EP4318149A1 (en) | 2021-03-24 | 2022-03-11 | Master unit |
US18/282,339 US20240152107A1 (en) | 2021-03-24 | 2022-03-11 | Master unit |
CN202280021768.XA CN116997870A (zh) | 2021-03-24 | 2022-03-11 | 主单元 |
JP2022538420A JP7152631B1 (ja) | 2021-03-24 | 2022-03-11 | マスターユニット |
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JP2021-050034 | 2021-03-24 | ||
JP2021050034 | 2021-03-24 |
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WO2022202390A1 true WO2022202390A1 (ja) | 2022-09-29 |
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ID=83395719
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PCT/JP2022/010777 WO2022202390A1 (ja) | 2021-03-24 | 2022-03-11 | マスターユニット |
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US (1) | US20240152107A1 (ja) |
EP (1) | EP4318149A1 (ja) |
JP (1) | JP7152631B1 (ja) |
CN (1) | CN116997870A (ja) |
TW (1) | TW202238292A (ja) |
WO (1) | WO2022202390A1 (ja) |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH09247766A (ja) * | 1996-03-07 | 1997-09-19 | Meidensha Corp | 遠方監視制御システム |
JP2002091519A (ja) * | 2000-09-20 | 2002-03-29 | Hitachi Ltd | プログラマブルコントローラ及び誤配線修正方法 |
JP2011130307A (ja) * | 2009-12-21 | 2011-06-30 | Mitsubishi Electric Corp | 冗長化通信装置 |
JP2016110460A (ja) | 2014-12-08 | 2016-06-20 | 株式会社キーエンス | プログラマブルコントローラ、プログラマブルコントローラの制御方法およびプログラム |
JP2018157456A (ja) * | 2017-03-21 | 2018-10-04 | ファナック株式会社 | スレーブ、シリアル通信システム、および、シリアル通信システムの通信方法 |
JP2019114085A (ja) * | 2017-12-25 | 2019-07-11 | オムロン株式会社 | 制御システムおよび制御装置 |
JP2021002172A (ja) * | 2019-06-20 | 2021-01-07 | 株式会社日立製作所 | デイジーチェーン接続システム及びシステム制御方法 |
-
2022
- 2022-03-11 EP EP22775182.3A patent/EP4318149A1/en active Pending
- 2022-03-11 WO PCT/JP2022/010777 patent/WO2022202390A1/ja active Application Filing
- 2022-03-11 CN CN202280021768.XA patent/CN116997870A/zh active Pending
- 2022-03-11 US US18/282,339 patent/US20240152107A1/en active Pending
- 2022-03-11 JP JP2022538420A patent/JP7152631B1/ja active Active
- 2022-03-18 TW TW111109976A patent/TW202238292A/zh unknown
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH09247766A (ja) * | 1996-03-07 | 1997-09-19 | Meidensha Corp | 遠方監視制御システム |
JP2002091519A (ja) * | 2000-09-20 | 2002-03-29 | Hitachi Ltd | プログラマブルコントローラ及び誤配線修正方法 |
JP2011130307A (ja) * | 2009-12-21 | 2011-06-30 | Mitsubishi Electric Corp | 冗長化通信装置 |
JP2016110460A (ja) | 2014-12-08 | 2016-06-20 | 株式会社キーエンス | プログラマブルコントローラ、プログラマブルコントローラの制御方法およびプログラム |
JP2018157456A (ja) * | 2017-03-21 | 2018-10-04 | ファナック株式会社 | スレーブ、シリアル通信システム、および、シリアル通信システムの通信方法 |
JP2019114085A (ja) * | 2017-12-25 | 2019-07-11 | オムロン株式会社 | 制御システムおよび制御装置 |
JP2021002172A (ja) * | 2019-06-20 | 2021-01-07 | 株式会社日立製作所 | デイジーチェーン接続システム及びシステム制御方法 |
Also Published As
Publication number | Publication date |
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US20240152107A1 (en) | 2024-05-09 |
JPWO2022202390A1 (ja) | 2022-09-29 |
TW202238292A (zh) | 2022-10-01 |
EP4318149A1 (en) | 2024-02-07 |
CN116997870A (zh) | 2023-11-03 |
JP7152631B1 (ja) | 2022-10-12 |
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