WO2024038747A1 - Processing device - Google Patents

Processing device Download PDF

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Publication number
WO2024038747A1
WO2024038747A1 PCT/JP2023/027446 JP2023027446W WO2024038747A1 WO 2024038747 A1 WO2024038747 A1 WO 2024038747A1 JP 2023027446 W JP2023027446 W JP 2023027446W WO 2024038747 A1 WO2024038747 A1 WO 2024038747A1
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WIPO (PCT)
Prior art keywords
program
output
processing device
cpu
execution
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PCT/JP2023/027446
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French (fr)
Japanese (ja)
Inventor
靖啓 衣笠
康之 田中
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パナソニックＩｐマネジメント株式会社
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Application filed by パナソニックＩｐマネジメント株式会社 filed Critical パナソニックＩｐマネジメント株式会社
Priority to CN202380013311.9A priority Critical patent/CN117980885A/en
Publication of WO2024038747A1 publication Critical patent/WO2024038747A1/en

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F11/00—Error detection; Error correction; Monitoring
    • G06F11/07—Responding to the occurrence of a fault, e.g. fault tolerance
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F8/00—Arrangements for software engineering
    • G06F8/60—Software deployment
    • G06F8/65—Updates

Definitions

  • the present disclosure relates to a processing device that executes a program.
  • the processing device disclosed in Patent Document 1 includes an execution unit that executes a program, and a storage unit that stores a boot program, a copy program, and a control program.
  • a processing device such as that disclosed in Patent Document 1 may be installed in equipment or systems that have safety functions. In such a case, if all programs executed by the execution unit are made to comply with predetermined functional safety standards, the number of steps and costs for program development will increase.
  • the present disclosure has been made in view of these points, and its purpose is to reduce the man-hours and cost of program development while ensuring the safety of equipment and systems in which the processing device is installed. be.
  • the present disclosure provides an execution program storage unit that stores a first program and a second program that starts the first program, and a program storage unit that stores the first program and the second program that starts the first program.
  • an output unit that outputs a processing result of the execution unit; and a watchdog that resets the output of the output unit when a predetermined signal is not received for a predetermined period of time.
  • the second program includes an output opening operation of transmitting the predetermined signal to the watchdog timer at a predetermined period, and an output opening operation before starting the first program.
  • the execution unit is characterized in that it causes the execution unit to execute the output cutoff operation to stop.
  • the first program when the first program is executed, the output of the output section is reset by the watchdog timer, so even if the processing device goes out of control due to execution of the first program, the output of the output section is not affected and the processing Do not compromise the safety of the equipment or system in which the device is installed. Therefore, in order to ensure the safety of the equipment or system in which the processing device is installed, the first program does not have to conform to a predetermined functional safety standard, so it is possible to reduce the number of steps and cost for developing the program.
  • FIG. 1 is a block diagram showing the configuration of a robot system.
  • FIG. 2 is a block diagram showing the configuration of the robot control system.
  • FIG. 3 is a block diagram showing the configuration of a duplex processing device according to an embodiment of the present disclosure.
  • FIG. 4 is a flowchart showing the operation of each processing section of the duplex processing device when the power is turned on.
  • FIG. 1 shows the configuration of a robot system 1.
  • This robot system 1 includes a plurality of robots 11, a plurality of area sensors 12, a plurality of lamps 13, a plurality of robot control systems 14, and a safety PLC (programmable logic controller) 17.
  • PLC programmable logic controller
  • each robot 11 has nine motors 111 and nine encoders 112 that respectively detect and output the position of the rotation axis of the corresponding motor 111.
  • illustration of some motors 111 and encoders 112 is omitted.
  • Each robot 11 is a six-axis robot having six rotary joints, six of the nine motors 111 are motors that rotate the rotary joints, and three motors 111 are connected to an external axis (not shown). ) motor.
  • Each area sensor 12 is provided for each robot 11.
  • the area sensor 12 outputs a detection result indicating whether or not a person is within the working range of the robot 11.
  • Each lamp 13 is also provided for each robot 11.
  • Each robot control system 14 is also provided for each robot 11.
  • Each robot control system 14 includes a teach pendant 15 and a robot controller 16.
  • the teach pendant 15 includes an input section 151, an operation input board 152, and a TP side communication board 153.
  • the input unit 151 receives an input operation by a user and outputs an operation signal according to the input operation.
  • the operation input board 152 generates operation input information based on the operation signal output by the input unit 151, and transmits it using the communication method specified in IEC61784-3.
  • the TP side communication board 153 receives the operation input information transmitted by the operation input board 152, and transmits it to the robot controller 16 via the communication medium M.
  • the robot controller 16 includes a sensor input board 161, a monitoring board 162, a notification board 163, a main control board 164, a motor control section 165, and nine amplifiers 166.
  • the sensor input board 161 generates sensor input information indicating the detection results output by the external area sensor 12. Further, the sensor input board 161 receives an on/off signal indicating whether to turn on/off the lamp 13 from the notification board 163, and causes the lamp 13 to blink based on the on/off signal.
  • the monitoring board 162 meets the safety conditions that the positions (angles) of the rotation axes of the nine motors 111 that rotate the rotary joints are within the safety range, and the speed of the rotation axes of the nine motors 111 is less than the speed limit. Monitoring information indicating whether or not is satisfied is generated and output based on the outputs of the nine corresponding encoders 112.
  • the monitoring board 162 also refers to a notification signal (described later) output by the notification board 163, and outputs a stop signal to the amplifier 166 if the notification signal is at a low level.
  • the notification board 163 performs a reception process of receiving operation input information, sensor input information, and monitoring information, and a notification signal output process of generating a notification signal regarding the robot 11 and outputting it to the outside based on these information. It is doable. Specifically, for example, the notification board 163 indicates that if the safety conditions are not met or if a person is within the working range of the robot 11, an input operation to stop the robot 11 has been performed. The notification signal is set to low level when a request to stop the robot 11 is received from the safety PLC 17. On the other hand, the notification board 163 indicates that the safety conditions are satisfied, no person is within the working range of the robot 11, no input operation is performed to stop the robot 11, and the robot 11 is stopped. If no request is received from the safety PLC 17, the notification signal is set to high level.
  • the main control board 164 transmits the operation input information transmitted from the TP side communication board 153 to the notification board 163.
  • the motor control unit 165 controls the nine motors 111 by controlling the nine amplifiers 166.
  • the amplifier 166 stops the motor 111 when the monitoring board 162 outputs a stop signal.
  • the amplifier 166 can rotate the motor 111 under the control of the motor control unit 165 when the monitoring board 162 does not output a stop signal.
  • Transmission and reception of signals (information) between the operation input board 152 and the notification board 163 is performed using a communication method defined in IEC61784-3 (black channel communication protocol).
  • the TP side communication board 153, the main control board 164, and the wiring connecting both boards 153 and 164 constitute a so-called black channel.
  • Transmission and reception of signals (information) between the monitoring board 162 and the notification board 163 and between the sensor input board 161 and the notification board 163 are also performed using a communication method defined in IEC61784-3.
  • the safety PLC 17 requests the robot control system 14 corresponding to all the robots 11 to stop the robots 11, for example. Note that this stop request may be made to only the robot control systems 14 corresponding to some of the robots 11, if necessary. Note that a device other than the safety PLC 17 may have the function of requesting the robot 11 to stop based on the notification signal.
  • the operation input board 152, the sensor input board 161, the monitoring board 162, and the notification board 163 are each equipped with the duplex processing device 200 shown in FIG. 3.
  • the duplex processing device 200 includes first and second processing sections 200a and 200b.
  • the first processing unit 200a includes a first execution program storage unit 201a, a first CPU (Central Processing Unit) 203a as an execution unit, a first output unit 204a, and a first watchdog timer ( WDT (Watchdog timer) 205a.
  • a first execution program storage unit 201a includes a first CPU (Central Processing Unit) 203a as an execution unit, a first output unit 204a, and a first watchdog timer ( WDT (Watchdog timer) 205a.
  • WDT Watchdog timer
  • the second processing unit 200b includes a second execution program storage unit 201b, a second CPU 203b as an execution unit, a second output unit 204b, and a second watchdog timer (WDT) 205b. ing.
  • the first and second execution program storage units 201a and 201b each store a boot program as a second program, a control program, and a rewriting program as a first program.
  • the boot program and the control program conform to functional safety standards such as IEC61508, and the rewriting program does not conform to functional safety standards.
  • the boot program is executed by the corresponding CPUs 203a and 203b when the power is turned on.
  • the boot program determines whether there is an abnormality in the control program using a method such as a sum check, and if there is an abnormality, starts a rewriting program, and if there is no abnormality, starts the control program.
  • the boot program and the control program cause the corresponding CPUs 203a and 203b to always execute an output opening operation that transmits the predetermined signal to the corresponding watchdog timer 205a and 205b at a predetermined period.
  • the boot program causes the corresponding CPUs 203a and 203b to execute an output cutoff operation that stops the output opening operation before starting the rewrite program.
  • the rewriting program receives a new program from the main control board 164, and executes a rewriting process of rewriting the control program stored in the corresponding execution program storage unit 201a, 201b to the received new program by the corresponding CPU 203a, 203b.
  • the first CPU 203a executes the boot program, control program, and rewrite program stored in the first execution program storage unit 201a, and obtains processing results.
  • the second CPU 203b executes the boot program, control program, and rewrite program stored in the second execution program storage unit 201b, and obtains processing results.
  • the first and second CPUs 203a, 203b each determine whether the calculated value obtained by executing the program matches the calculated value output by the other CPU 203a, 203b.
  • the calculated value may be, for example, a processing result output to the corresponding output unit 204a, 204b, or may be a calculated value obtained in the calculation process up to obtaining the processing result. If the calculated value obtained by the CPU 203a, 203b matches the calculated value obtained by the other CPU 203a, 203b, the first and second CPUs 203a, 203b synchronize and continue processing, If they do not match, the robot 11 is stopped.
  • the first CPU 203a stops outputting when notified of an abnormality from the second watchdog timer 205b.
  • the second CPU 203b stops outputting when notified of an abnormality from the first watchdog timer 205a.
  • the first output unit 204a outputs the processing result of the first CPU 203a.
  • the second output unit 204b outputs the processing result of the second CPU 203b.
  • the first watchdog timer 205a resets the output of the first output unit 204a and notifies the second CPU 203b of the abnormality.
  • the second watchdog timer 205b resets the output of the second output section 204b and notifies the first CPU 203a of the abnormality.
  • the first and second CPUs 203a and 203b obtain operation input information as a processing result.
  • the first and second CPUs 203a and 203b acquire sensor input information as a processing result.
  • the monitoring board 162 the first and second CPUs 203a and 203b obtain monitoring information as a processing result.
  • the notification board 163 the first and second CPUs 203a and 203b obtain notification signals as processing results.
  • FIG. 4 shows the operation of each processing section 200a, 200b of the duplex processing device 200 when the power is turned on.
  • the first CPU 203a loads the boot program from the first execution program storage unit 201a. Read and start its execution. When the first CPU 203a starts executing the boot program, it starts an output opening operation of transmitting the predetermined signal to the first watchdog timer 205a at a predetermined period.
  • the first CPU 203a determines whether there is an abnormality in the control program. The presence or absence of an abnormality is checked using a method such as a sum check.
  • the first CPU 203a determines that there is no abnormality, it starts executing the control program in (S13), whereas if it determines that there is an abnormality, it proceeds to the process of (S14).
  • the first CPU 203a executes an output cutoff operation to stop the output opening operation. That is, the first CPU 203a stops transmitting the predetermined signal to the first watchdog timer 205a. Thereafter, when the period in which the predetermined signal is not received exceeds a predetermined period, in (S15), the first watchdog timer 205a resets the output of the first output section 204a, and also causes the second CPU 203b to detect an abnormality. By notifying the CPU 203b, the output of the second CPU 203b is stopped.
  • the first CPU 203a then waits for notification of the abnormality from the second watchdog timer 205b. Thereafter, the first CPU 203a receives the abnormality notification from the second watchdog timer 205b, confirms that the output of the second CPU 203b has stopped, and proceeds to the process of (S16). In (S16), the first CPU 203a executes the rewriting program. That is, the first CPU 203a receives a new program from the main control board 164, and executes a rewriting process to rewrite the control program stored in the first execution program storage unit 201a with the received new program. . This completes the operation at power-on.
  • the second processing unit 200b also performs the same operations as the first processing unit 200a in parallel and in synchronization with the operations of the first processing unit 200a.
  • the outputs of the first and second output units 204a and 204b are reset, so the execution of the rewriting program causes the first and second CPUs 203a and 203b to Even if the robot goes out of control, the outputs of the first and second output sections 204a and 204b are not affected, and the safety of the entire robot system 1 can be ensured.
  • the rewriting program does not have to conform to functional safety standards, and an existing program can be used as the rewriting program. Therefore, the number of man-hours and costs for developing the program executed by the duplex processing device 200 can be reduced.
  • the first and second CPUs 203a and 203b make the determination in (S12), and do not execute the control program if the control program is not normal. Therefore, even if the control programs stored in the first and second execution program storage units 201a and 201b become abnormal due to execution of the rewriting program, the safety of the robot system 1 can be ensured.
  • the present invention was applied to the duplex processing device 200 provided in the robot system 1, but it may be applied to processing devices provided in other devices.
  • the processing device of the present disclosure can reduce the man-hours and cost of program development while ensuring the safety of equipment and systems in which the processing device is installed, and is useful as a processing device that executes programs.

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  • Theoretical Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
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Abstract

A duplicated processing device 200 provided with a first CPU 203a for executing first and second programs is provided with a first output unit 204a for outputting a processing result of the first CPU 203a, and a first watchdog timer 205a for resetting the output of the first output unit 204a if a period in which a prescribed signal is not received exceeds a prescribed period. The second program is configured to cause the first CPU 203a to execute an output opening operation for transmitting the prescribed signal to the first watchdog timer 205a with a prescribed period, and an output interrupting operation for suspending the output opening operation before the first program is launched.

Description

処理装置processing equipment
　本開示は、プログラムを実行する処理装置に関する。 The present disclosure relates to a processing device that executes a program.
　特許文献１に開示された処理装置は、プログラムを実行する実行部と、ブートプログラム、複写プログラム、及び制御プログラムを記憶する記憶部とを備えている。 The processing device disclosed in Patent Document 1 includes an execution unit that executes a program, and a storage unit that stores a boot program, a copy program, and a control program.
特開２００３－１２２５９０号公報Japanese Patent Application Publication No. 2003-122590
　上記特許文献１のような処理装置を、安全機能を有する機器やシステムに設けることがある。このような場合、実行部によって実行されるプログラム全部を所定の機能安全規格に適合させるようにすると、プログラムの開発の工数及びコストが増大する。 A processing device such as that disclosed in Patent Document 1 may be installed in equipment or systems that have safety functions. In such a case, if all programs executed by the execution unit are made to comply with predetermined functional safety standards, the number of steps and costs for program development will increase.
　一方で、所定の機能安全規格に適合しないプログラムを実行部に実行させるようにすると、処理装置が暴走し、外部への出力が異常となり、機器やシステムの安全性を担保できなくなる虞がある。 On the other hand, if the execution unit is made to execute a program that does not comply with predetermined functional safety standards, there is a risk that the processing device will run out of control, output to the outside will become abnormal, and the safety of the equipment and system will not be guaranteed.
　本開示は、かかる点に鑑みてなされたものであり、その目的とするところは、処理装置が設けられる機器やシステムの安全性を担保しつつ、プログラムの開発の工数及びコストを削減することにある。 The present disclosure has been made in view of these points, and its purpose is to reduce the man-hours and cost of program development while ensuring the safety of equipment and systems in which the processing device is installed. be.
　上記の目的を達成するため、本開示は、第１のプログラム、及び前記第１のプログラムを起動する第２のプログラムを記憶する実行用プログラム記憶部と、前記第１及び第２のプログラムを実行する実行部とを備えた処理装置であって、前記実行部の処理結果を出力する出力部と、所定の信号を受信しない期間が所定期間を超えると、前記出力部の出力をリセットするウォッチドッグタイマとをさらに備え、前記第２のブログラムは、所定周期で前記ウォッチドッグタイマへ前記所定の信号を送信する出力開通動作と、前記第１のプログラムを起動する前に、前記出力開通動作を停止する出力遮断動作とを前記実行部に実行させるものであることを特徴とする。 In order to achieve the above object, the present disclosure provides an execution program storage unit that stores a first program and a second program that starts the first program, and a program storage unit that stores the first program and the second program that starts the first program. an output unit that outputs a processing result of the execution unit; and a watchdog that resets the output of the output unit when a predetermined signal is not received for a predetermined period of time. and a timer, the second program includes an output opening operation of transmitting the predetermined signal to the watchdog timer at a predetermined period, and an output opening operation before starting the first program. The execution unit is characterized in that it causes the execution unit to execute the output cutoff operation to stop.
　これにより、第１のプログラムの実行時には、出力部の出力がウォッチドッグタイマによってリセットされるので、第１のプログラムの実行によって処理装置が暴走しても、出力部の出力に影響せず、処理装置が設けられる機器やシステムの安全性を損なわない。したがって、処理装置が設けられる機器やシステムの安全性を担保するために、第１のプログラムを所定の機能安全規格に適合させなくてもよいので、プログラムの開発の工数及びコストを削減できる。 As a result, when the first program is executed, the output of the output section is reset by the watchdog timer, so even if the processing device goes out of control due to execution of the first program, the output of the output section is not affected and the processing Do not compromise the safety of the equipment or system in which the device is installed. Therefore, in order to ensure the safety of the equipment or system in which the processing device is installed, the first program does not have to conform to a predetermined functional safety standard, so it is possible to reduce the number of steps and cost for developing the program.
　本開示によると、処理装置が設けられる機器やシステムの安全性を担保しつつ、プログラムの開発の工数及びコストを削減できる。 According to the present disclosure, it is possible to reduce the man-hours and cost of program development while ensuring the safety of equipment and systems in which the processing device is installed.
図１は、ロボットシステムの構成を示すブロック図である。FIG. 1 is a block diagram showing the configuration of a robot system. 図２は、ロボット制御システムの構成を示すブロック図である。FIG. 2 is a block diagram showing the configuration of the robot control system. 図３は、本開示の実施形態に係る二重化処理装置の構成を示すブロック図である。FIG. 3 is a block diagram showing the configuration of a duplex processing device according to an embodiment of the present disclosure. 図４は、電源投入時における二重化処理装置の各処理部の動作を示すフローチャートである。FIG. 4 is a flowchart showing the operation of each processing section of the duplex processing device when the power is turned on.
　以下、本開示の実施形態を図面に基づいて詳細に説明する。以下の好ましい実施形態の説明は、本質的に例示に過ぎず、本発明、その適用物或いはその用途を制限することを意図するものでは全くない。 Hereinafter, embodiments of the present disclosure will be described in detail based on the drawings. The following description of preferred embodiments is merely exemplary in nature and is in no way intended to limit the invention, its applications, or its uses.
　図１は、ロボットシステム１の構成を示す。このロボットシステム１は、複数のロボット１１と、複数のエリアセンサ１２と、複数のランプ１３と、複数のロボット制御システム１４と、安全ＰＬＣ（programmable logic controller）１７とを備えている。 FIG. 1 shows the configuration of a robot system 1. This robot system 1 includes a plurality of robots 11, a plurality of area sensors 12, a plurality of lamps 13, a plurality of robot control systems 14, and a safety PLC (programmable logic controller) 17.
　各ロボット１１は、図２に示すように、９つのモータ１１１と、対応するモータ１１１の回転軸の位置をそれぞれ検出して出力する９つのエンコーダ１１２とを有している。図２において、一部のモータ１１１及びエンコーダ１１２の図示を省略している。各ロボット１１は、６つの回転関節を有する６軸ロボットであり、９つのモータ１１１のうちの６つのモータ１１１は、回転関節を回転させるモータであり、３つのモータ１１１は外部軸（図示せず）のモータである。 As shown in FIG. 2, each robot 11 has nine motors 111 and nine encoders 112 that respectively detect and output the position of the rotation axis of the corresponding motor 111. In FIG. 2, illustration of some motors 111 and encoders 112 is omitted. Each robot 11 is a six-axis robot having six rotary joints, six of the nine motors 111 are motors that rotate the rotary joints, and three motors 111 are connected to an external axis (not shown). ) motor.
　各エリアセンサ１２は、ロボット１１毎に設けられている。エリアセンサ１２は、人がロボット１１の作業範囲内に入っているか否かを示す検知結果を出力する。 Each area sensor 12 is provided for each robot 11. The area sensor 12 outputs a detection result indicating whether or not a person is within the working range of the robot 11.
　各ランプ１３も、ロボット１１毎に設けられている。 Each lamp 13 is also provided for each robot 11.
　各ロボット制御システム１４も、ロボット１１毎に設けられている。各ロボット制御システム１４は、ティーチペンダント１５とロボットコントローラ１６とを備えている。 Each robot control system 14 is also provided for each robot 11. Each robot control system 14 includes a teach pendant 15 and a robot controller 16.
　ティーチペンダント１５は、入力部１５１と、操作入力用基板１５２と、ＴＰ側通信用基板１５３とを有している。 The teach pendant 15 includes an input section 151, an operation input board 152, and a TP side communication board 153.
　入力部１５１は、ユーザによる入力操作を受け付け、当該入力操作に応じた操作信号を出力する。 The input unit 151 receives an input operation by a user and outputs an operation signal according to the input operation.
　操作入力用基板１５２は、入力部１５１により出力された操作信号に基づいて、操作入力情報を生成し、ＩＥＣ６１７８４－３に規定された通信方式を用いて送信する。 The operation input board 152 generates operation input information based on the operation signal output by the input unit 151, and transmits it using the communication method specified in IEC61784-3.
　ＴＰ側通信用基板１５３は、操作入力用基板１５２により送信された操作入力情報を受け取り、通信媒体Ｍを介してロボットコントローラ１６に送信する。 The TP side communication board 153 receives the operation input information transmitted by the operation input board 152, and transmits it to the robot controller 16 via the communication medium M.
　ロボットコントローラ１６は、センサ入力用基板１６１と、監視用基板１６２と、通知用基板１６３と、メイン制御基板１６４と、モータ制御部１６５と、９つのアンプ１６６とを備えている。 The robot controller 16 includes a sensor input board 161, a monitoring board 162, a notification board 163, a main control board 164, a motor control section 165, and nine amplifiers 166.
　センサ入力用基板１６１は、外部のエリアセンサ１２により出力された検知結果を示すセンサ入力情報を生成する。また、センサ入力用基板１６１は、ランプ１３をオンオフさせるか否かのオンオフ信号を通知用基板１６３から受信し、当該オンオフ信号に基づいてランプ１３を点滅させる。 The sensor input board 161 generates sensor input information indicating the detection results output by the external area sensor 12. Further, the sensor input board 161 receives an on/off signal indicating whether to turn on/off the lamp 13 from the notification board 163, and causes the lamp 13 to blink based on the on/off signal.
　監視用基板１６２は、回転関節を回転させる９つのモータ１１１の回転軸の位置（角度）が安全領域内であり、かつ当該９つのモータ１１１の回転軸の速度が制限速度未満であるという安全条件が満たされているか否かを示す監視情報を、対応する９つのエンコーダ１１２の出力に基づいて生成して出力する。また、監視用基板１６２は、通知用基板１６３により出力される通知信号（後述）を参照し、通知信号がローレベルである場合には、アンプ１６６に停止信号を出力する。 The monitoring board 162 meets the safety conditions that the positions (angles) of the rotation axes of the nine motors 111 that rotate the rotary joints are within the safety range, and the speed of the rotation axes of the nine motors 111 is less than the speed limit. Monitoring information indicating whether or not is satisfied is generated and output based on the outputs of the nine corresponding encoders 112. The monitoring board 162 also refers to a notification signal (described later) output by the notification board 163, and outputs a stop signal to the amplifier 166 if the notification signal is at a low level.
　通知用基板１６３は、操作入力情報、センサ入力情報、及び監視情報を受信する受信処理と、これらの情報に基づいて、ロボット１１に関する通知信号を生成して外部に出力する通知信号出力処理とを実行可能である。具体的には、例えば、通知用基板１６３は、前記安全条件が満たされていない場合、人がロボット１１の作業範囲内に入っている場合、ロボット１１を停止させるための入力操作が行われた場合、及びロボット１１の停止要求を安全ＰＬＣ１７から受信した場合に通知信号をローレベルとする。一方、通知用基板１６３は、前記安全条件が満たされ、人がロボット１１の作業範囲内に入っておらず、ロボット１１を停止させるための入力操作が行われておらず、かつロボット１１の停止要求を安全ＰＬＣ１７から受信していない場合には、通知信号をハイレベルとする。 The notification board 163 performs a reception process of receiving operation input information, sensor input information, and monitoring information, and a notification signal output process of generating a notification signal regarding the robot 11 and outputting it to the outside based on these information. It is doable. Specifically, for example, the notification board 163 indicates that if the safety conditions are not met or if a person is within the working range of the robot 11, an input operation to stop the robot 11 has been performed. The notification signal is set to low level when a request to stop the robot 11 is received from the safety PLC 17. On the other hand, the notification board 163 indicates that the safety conditions are satisfied, no person is within the working range of the robot 11, no input operation is performed to stop the robot 11, and the robot 11 is stopped. If no request is received from the safety PLC 17, the notification signal is set to high level.
　メイン制御基板１６４は、ＴＰ側通信用基板１５３から送信された操作入力情報を通知用基板１６３に送信する。 The main control board 164 transmits the operation input information transmitted from the TP side communication board 153 to the notification board 163.
　モータ制御部１６５は、９つのアンプ１６６を制御することにより９つのモータ１１１を制御する。 The motor control unit 165 controls the nine motors 111 by controlling the nine amplifiers 166.
　アンプ１６６は、監視用基板１６２により停止信号が出力されているとき、モータ１１１を停止させる。アンプ１６６は、監視用基板１６２により停止信号が出力されていないときには、モータ制御部１６５の制御によってモータ１１１を回転させることができる。 The amplifier 166 stops the motor 111 when the monitoring board 162 outputs a stop signal. The amplifier 166 can rotate the motor 111 under the control of the motor control unit 165 when the monitoring board 162 does not output a stop signal.
　操作入力用基板１５２と通知用基板１６３との間での信号（情報）の送受信は、ＩＥＣ６１７８４－３（ブラックチャネル通信プロトコル）に規定された通信方式で行われる。ＴＰ側通信用基板１５３とメイン制御基板１６４と両基板１５３，１６４を接続する配線とは、いわゆるブラックチャネル（Black Channel）を構成する。監視用基板１６２と通知用基板１６３との間、及びセンサ入力用基板１６１と通知用基板１６３との間での信号（情報）の送受信も、ＩＥＣ６１７８４－３に規定された通信方式で行われる。 Transmission and reception of signals (information) between the operation input board 152 and the notification board 163 is performed using a communication method defined in IEC61784-3 (black channel communication protocol). The TP side communication board 153, the main control board 164, and the wiring connecting both boards 153 and 164 constitute a so-called black channel. Transmission and reception of signals (information) between the monitoring board 162 and the notification board 163 and between the sensor input board 161 and the notification board 163 are also performed using a communication method defined in IEC61784-3.
　安全ＰＬＣ１７は、通知用基板１６３によりローレベルの通知信号が出力された場合には、例えば、すべてのロボット１１に対応するロボット制御システム１４に対し、ロボット１１の停止要求を行う。なお、この停止要求は、必要に応じて、一部のロボット１１に対応するロボット制御システム１４だけに行われるようにしてもよい。なお、通知信号に基づいてロボット１１の停止要求を行う機能を、安全ＰＬＣ１７以外の装置に持たせてもよい。 When the notification board 163 outputs a low-level notification signal, the safety PLC 17 requests the robot control system 14 corresponding to all the robots 11 to stop the robots 11, for example. Note that this stop request may be made to only the robot control systems 14 corresponding to some of the robots 11, if necessary. Note that a device other than the safety PLC 17 may have the function of requesting the robot 11 to stop based on the notification signal.
　操作入力用基板１５２、センサ入力用基板１６１、監視用基板１６２、及び通知用基板１６３は、それぞれ、図３に示す二重化処理装置２００を搭載している。二重化処理装置２００は、第１及び第２の処理部２００ａ，２００ｂを備えている。 The operation input board 152, the sensor input board 161, the monitoring board 162, and the notification board 163 are each equipped with the duplex processing device 200 shown in FIG. 3. The duplex processing device 200 includes first and second processing sections 200a and 200b.
　第１の処理部２００ａは、第１の実行用プログラム記憶部２０１ａと、実行部としての第１のＣＰＵ（Central Processing Unit）２０３ａと、第１の出力部２０４ａと、第１のウォッチドッグタイマ（WDT: Watchdog timer）２０５ａとを備えている。 The first processing unit 200a includes a first execution program storage unit 201a, a first CPU (Central Processing Unit) 203a as an execution unit, a first output unit 204a, and a first watchdog timer ( WDT (Watchdog timer) 205a.
　第２の処理部２００ｂは、第２の実行用プログラム記憶部２０１ｂと、実行部としての第２のＣＰＵ２０３ｂと、第２の出力部２０４ｂと、第２のウォッチドッグタイマ（WDT）２０５ｂとを備えている。 The second processing unit 200b includes a second execution program storage unit 201b, a second CPU 203b as an execution unit, a second output unit 204b, and a second watchdog timer (WDT) 205b. ing.
　第１及び第２の実行用プログラム記憶部２０１ａ，２０１ｂはそれぞれ、第２のプログラムとしてのブートプログラム、制御プログラム、及び第１のプログラムとしての書き換えプログラムを記憶する。ブートプログラム及び制御プログラムは、ＩＥＣ６１５０８等の機能安全規格に適合し、書き換えプログラムは、機能安全規格に適合していない。ブートプログラムは、対応するＣＰＵ２０３ａ，２０３ｂにより電源投入時に実行される。ブートプログラムは、制御プログラムの異常の有無をサムチェック等の手法で判定させ、異常があれば書き換えプログラムを起動させる一方、異常がなければ制御プログラムを起動させるものである。ブートプログラム及び制御プログラムは、対応するウォッチドッグタイマ２０５ａ，２０５ｂへ前記所定の信号を所定周期で送信する出力開通動作を、対応するＣＰＵ２０３ａ，２０３ｂに常時実行させるものである。ただし、ブートプログラムは、書き換えプログラムを起動する前に前記出力開通動作を停止する出力遮断動作を、対応するＣＰＵ２０３ａ，２０３ｂに実行させるものである。書き換えプログラムは、メイン制御基板１６４から新たなプログラムを受信し、対応する実行用プログラム記憶部２０１ａ，２０１ｂに記憶されている制御プログラムを、受信した新たなプログラムに書き換える書き換え処理を、対応するＣＰＵ２０３ａ，２０３ｂに実行させるものである。 The first and second execution program storage units 201a and 201b each store a boot program as a second program, a control program, and a rewriting program as a first program. The boot program and the control program conform to functional safety standards such as IEC61508, and the rewriting program does not conform to functional safety standards. The boot program is executed by the corresponding CPUs 203a and 203b when the power is turned on. The boot program determines whether there is an abnormality in the control program using a method such as a sum check, and if there is an abnormality, starts a rewriting program, and if there is no abnormality, starts the control program. The boot program and the control program cause the corresponding CPUs 203a and 203b to always execute an output opening operation that transmits the predetermined signal to the corresponding watchdog timer 205a and 205b at a predetermined period. However, the boot program causes the corresponding CPUs 203a and 203b to execute an output cutoff operation that stops the output opening operation before starting the rewrite program. The rewriting program receives a new program from the main control board 164, and executes a rewriting process of rewriting the control program stored in the corresponding execution program storage unit 201a, 201b to the received new program by the corresponding CPU 203a, 203b.
　第１のＣＰＵ２０３ａは、第１の実行用プログラム記憶部２０１ａに記憶されたブートプログラム、制御プログラム、及び書き換えプログラムを実行し、処理結果を取得する。 The first CPU 203a executes the boot program, control program, and rewrite program stored in the first execution program storage unit 201a, and obtains processing results.
　第２のＣＰＵ２０３ｂは、第２の実行用プログラム記憶部２０１ｂに記憶されたブートプログラム、制御プログラム、及び書き換えプログラムを実行し、処理結果を取得する。 The second CPU 203b executes the boot program, control program, and rewrite program stored in the second execution program storage unit 201b, and obtains processing results.
　第１及び第２のＣＰＵ２０３ａ，２０３ｂはそれぞれ、プログラムの実行により得られた算出値と他方のＣＰＵ２０３ａ，２０３ｂにより出力された算出値とが一致するか否かを判定する。算出値は、例えば、対応する出力部２０４ａ，２０４ｂに出力する処理結果であってもよいし、処理結果を取得するまでの演算過程で得られる算出値であってもよい。第１及び第２のＣＰＵ２０３ａ，２０３ｂはそれぞれ、当該ＣＰＵ２０３ａ，２０３ｂにより得た算出値と、他方のＣＰＵ２０３ａ，２０３ｂにより得た算出値とが一致する場合には、そのまま同期して処理を続ける一方、一致しない場合には、ロボット１１を停止させる。 The first and second CPUs 203a, 203b each determine whether the calculated value obtained by executing the program matches the calculated value output by the other CPU 203a, 203b. The calculated value may be, for example, a processing result output to the corresponding output unit 204a, 204b, or may be a calculated value obtained in the calculation process up to obtaining the processing result. If the calculated value obtained by the CPU 203a, 203b matches the calculated value obtained by the other CPU 203a, 203b, the first and second CPUs 203a, 203b synchronize and continue processing, If they do not match, the robot 11 is stopped.
　また、第１のＣＰＵ２０３ａは、第２のウォッチドッグタイマ２０５ｂから異常を通知された場合に、出力を停止する。 Furthermore, the first CPU 203a stops outputting when notified of an abnormality from the second watchdog timer 205b.
　また、第２のＣＰＵ２０３ｂは、第１のウォッチドッグタイマ２０５ａから異常を通知された場合に、出力を停止する。 Further, the second CPU 203b stops outputting when notified of an abnormality from the first watchdog timer 205a.
　第１の出力部２０４ａは、第１のＣＰＵ２０３ａの処理結果を出力する。 The first output unit 204a outputs the processing result of the first CPU 203a.
　第２の出力部２０４ｂは、第２のＣＰＵ２０３ｂの処理結果を出力する。 The second output unit 204b outputs the processing result of the second CPU 203b.
　第１のウォッチドッグタイマ２０５ａは、前記所定の信号を受信しない期間が所定期間を超えると、第１の出力部２０４ａの出力をリセットするとともに、第２のＣＰＵ２０３ｂに異常を通知する。 When the period during which the predetermined signal is not received exceeds a predetermined period, the first watchdog timer 205a resets the output of the first output unit 204a and notifies the second CPU 203b of the abnormality.
　第２のウォッチドッグタイマ２０５ｂは、前記所定の信号を受信しない期間が所定期間を超えると、第２の出力部２０４ｂの出力をリセットするとともに、第１のＣＰＵ２０３ａに異常を通知する。 When the period during which the predetermined signal is not received exceeds a predetermined period, the second watchdog timer 205b resets the output of the second output section 204b and notifies the first CPU 203a of the abnormality.
　例えば、操作入力用基板１５２では、第１及び第２のＣＰＵ２０３ａ，２０３ｂが処理結果として、操作入力情報を取得する。センサ入力用基板１６１では、第１及び第２のＣＰＵ２０３ａ，２０３ｂが処理結果として、センサ入力情報を取得する。監視用基板１６２では、第１及び第２のＣＰＵ２０３ａ，２０３ｂが処理結果として、監視情報を取得する。通知用基板１６３では、第１及び第２のＣＰＵ２０３ａ，２０３ｂが処理結果として、通知信号を取得する。 For example, in the operation input board 152, the first and second CPUs 203a and 203b obtain operation input information as a processing result. In the sensor input board 161, the first and second CPUs 203a and 203b acquire sensor input information as a processing result. In the monitoring board 162, the first and second CPUs 203a and 203b obtain monitoring information as a processing result. In the notification board 163, the first and second CPUs 203a and 203b obtain notification signals as processing results.
　図４は、電源投入時における二重化処理装置２００の各処理部２００ａ，２００ｂの動作を示す。 FIG. 4 shows the operation of each processing section 200a, 200b of the duplex processing device 200 when the power is turned on.
　上述のように構成された二重化処理装置２００に電源が投入されると、第１の処理部２００ａでは、（Ｓ１１）において、第１のＣＰＵ２０３ａが第１の実行用プログラム記憶部２０１ａからブートプログラムを読み出してその実行を開始する。第１のＣＰＵ２０３ａは、ブートプログラムの実行を開始すると、所定周期で第１のウォッチドッグタイマ２０５ａへ前記所定の信号を送信する出力開通動作を開始する。次いで、（Ｓ１２）において、第１のＣＰＵ２０３ａは、制御プログラムの異常の有無を判定する。異常の有無は、サムチェック等の手法でチェックする。第１のＣＰＵ２０３ａは、異常が無いと判定した場合、（Ｓ１３）において、制御プログラムの実行を開始する一方、異常が有ると判定した場合には、（Ｓ１４）の処理に進む。第１のＣＰＵ２０３ａは、（Ｓ１４）では、出力開通動作を停止する出力遮断動作を実行する。つまり、第１のＣＰＵ２０３ａは、第１のウォッチドッグタイマ２０５ａへの前記所定の信号の送信を停止する。その後、前記所定の信号を受信しない期間が所定期間を超えると、（Ｓ１５）において、第１のウォッチドッグタイマ２０５ａは、第１の出力部２０４ａの出力をリセットするとともに、第２のＣＰＵ２０３ｂに異常を通知することにより、第２のＣＰＵ２０３ｂの出力を停止させる。そして、第１のＣＰＵ２０３ａは、第２のウォッチドッグタイマ２０５ｂから異常が通知されるのを待つ。その後、第１のＣＰＵ２０３ａは、第２のウォッチドッグタイマ２０５ｂから異常の通知を受信し、第２のＣＰＵ２０３ｂの出力が停止したことを確認し、（Ｓ１６）の処理に進む。（Ｓ１６）において、第１のＣＰＵ２０３ａは、書き換えプログラムを実行する。つまり、第１のＣＰＵ２０３ａは、メイン制御基板１６４から新たなプログラムを受信し、第１の実行用プログラム記憶部２０１ａに記憶されている制御プログラムを、受信した新たなプログラムに書き換える書き換え処理を実行する。これにより、電源投入時の動作が終了する。 When the duplex processing device 200 configured as described above is powered on, in the first processing unit 200a, in (S11), the first CPU 203a loads the boot program from the first execution program storage unit 201a. Read and start its execution. When the first CPU 203a starts executing the boot program, it starts an output opening operation of transmitting the predetermined signal to the first watchdog timer 205a at a predetermined period. Next, in (S12), the first CPU 203a determines whether there is an abnormality in the control program. The presence or absence of an abnormality is checked using a method such as a sum check. If the first CPU 203a determines that there is no abnormality, it starts executing the control program in (S13), whereas if it determines that there is an abnormality, it proceeds to the process of (S14). In (S14), the first CPU 203a executes an output cutoff operation to stop the output opening operation. That is, the first CPU 203a stops transmitting the predetermined signal to the first watchdog timer 205a. Thereafter, when the period in which the predetermined signal is not received exceeds a predetermined period, in (S15), the first watchdog timer 205a resets the output of the first output section 204a, and also causes the second CPU 203b to detect an abnormality. By notifying the CPU 203b, the output of the second CPU 203b is stopped. The first CPU 203a then waits for notification of the abnormality from the second watchdog timer 205b. Thereafter, the first CPU 203a receives the abnormality notification from the second watchdog timer 205b, confirms that the output of the second CPU 203b has stopped, and proceeds to the process of (S16). In (S16), the first CPU 203a executes the rewriting program. That is, the first CPU 203a receives a new program from the main control board 164, and executes a rewriting process to rewrite the control program stored in the first execution program storage unit 201a with the received new program. . This completes the operation at power-on.
　第２の処理部２００ｂにおいても、第１の処理部２００ａと同じ動作が、第１の処理部２００ａの動作と同期して並行して実行される。 The second processing unit 200b also performs the same operations as the first processing unit 200a in parallel and in synchronization with the operations of the first processing unit 200a.
　第１及び第２のＣＰＵ２０３ａ，２０３ｂによる書き換えプログラムの実行中、第１及び第２の出力部２０４ａ，２０４ｂの出力はリセットされているので、書き換えプログラムの実行によって第１及び第２のＣＰＵ２０３ａ，２０３ｂが暴走しても、第１及び第２の出力部２０４ａ，２０４ｂの出力に影響せず、ロボットシステム１全体の安全性を担保できる。これにより、ロボットシステム１全体の安全性を担保するために、書き換えプログラムを機能安全規格に適合させなくてもよく、書き換えプログラムとして既存のプログラムを流用できるようになる。したがって、二重化処理装置２００によって実行されるプログラムの開発の工数及びコストを削減できる。 During the execution of the rewriting program by the first and second CPUs 203a and 203b, the outputs of the first and second output units 204a and 204b are reset, so the execution of the rewriting program causes the first and second CPUs 203a and 203b to Even if the robot goes out of control, the outputs of the first and second output sections 204a and 204b are not affected, and the safety of the entire robot system 1 can be ensured. As a result, in order to ensure the safety of the entire robot system 1, the rewriting program does not have to conform to functional safety standards, and an existing program can be used as the rewriting program. Therefore, the number of man-hours and costs for developing the program executed by the duplex processing device 200 can be reduced.
　また、第１及び第２のＣＰＵ２０３ａ，２０３ｂは、（Ｓ１２）の判定を行い、制御プログラムが正常でない場合には、制御プログラムを実行しない。したがって、書き換えプログラムの実行により、第１及び第２の実行用プログラム記憶部２０１ａ，２０１ｂに記憶された制御プログラムが正常でなくなっても、ロボットシステム１の安全性を担保できる。 Furthermore, the first and second CPUs 203a and 203b make the determination in (S12), and do not execute the control program if the control program is not normal. Therefore, even if the control programs stored in the first and second execution program storage units 201a and 201b become abnormal due to execution of the rewriting program, the safety of the robot system 1 can be ensured.
　なお、上記実施形態では、本発明を、ロボットシステム１に設けられる二重化処理装置２００に適用したが、その他の機器に設けられる処理装置に適用してもよい。 Note that in the above embodiment, the present invention was applied to the duplex processing device 200 provided in the robot system 1, but it may be applied to processing devices provided in other devices.
　本開示の処理装置は、処理装置が設けられる機器やシステムの安全性を担保しつつ、プログラムの開発の工数及びコストを削減でき、プログラムを実行する処理装置として有用である。 The processing device of the present disclosure can reduce the man-hours and cost of program development while ensuring the safety of equipment and systems in which the processing device is installed, and is useful as a processing device that executes programs.
２００　　　二重化処理装置 
２０１ａ　　第１の実行用プログラム記憶部
２０１ｂ　　第２の実行用プログラム記憶部 
２０３ａ　　第１のＣＰＵ（実行部） 
２０３ｂ　　第２のＣＰＵ（実行部） 
２０４ａ　　第１の出力部 
２０４ｂ　　第２の出力部 
２０５ａ　　第１のウォッチドッグタイマ 
２０５ｂ　　第２のウォッチドッグタイマ 200 Duplex processing equipment
201a First execution program storage unit 201b Second execution program storage unit
203a First CPU (execution unit)
203b Second CPU (execution unit)
204a first output section
204b second output section
205a First watchdog timer
205b Second watchdog timer

Claims (3)

  1. 　第１のプログラム、及び前記第１のプログラムを起動する第２のプログラムを記憶する実行用プログラム記憶部と、
    　前記第１及び第２のプログラムを実行する実行部と
    　を備えた処理装置であって、
    　前記実行部の処理結果を出力する出力部と、
    　所定の信号を受信しない期間が所定期間を超えると、前記出力部の出力をリセットするウォッチドッグタイマとをさらに備え、
    　前記第２のブログラムは、所定周期で前記ウォッチドッグタイマへ前記所定の信号を送信する出力開通動作と、前記第１のプログラムを起動する前に、前記出力開通動作を停止する出力遮断動作とを前記実行部に実行させるものであることを特徴とする処理装置。     an execution program storage unit that stores a first program and a second program that starts the first program;
    A processing device comprising: an execution unit that executes the first and second programs;
    an output unit that outputs a processing result of the execution unit;
    Further comprising a watchdog timer that resets the output of the output section when a period of not receiving a predetermined signal exceeds a predetermined period,
    The second program includes an output opening operation that transmits the predetermined signal to the watchdog timer at a predetermined period, and an output cutting operation that stops the output opening operation before starting the first program. A processing device that causes the execution unit to execute.
  2. 　請求項１に記載の処理装置において、
    　前記第１のプログラムは、前記実行用プログラム記憶部に記憶されているプログラムを、新たなプログラムに書き換える書き換え処理を前記実行部に実行させるものであることを特徴とする処理装置。     The processing device according to claim 1,
    The processing device according to claim 1, wherein the first program causes the execution unit to execute a rewriting process of rewriting a program stored in the execution program storage unit to a new program.
  3. 　請求項２に記載の処理装置において、
    　前記第２のプログラムは、前記実行部により電源投入時に実行されるブートプログラムであることを特徴とする処理装置。     The processing device according to claim 2,
    The processing device is characterized in that the second program is a boot program executed by the execution unit when power is turned on.
PCT/JP2023/027446 2022-08-19 2023-07-26 Processing device WO2024038747A1 (en)

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Citations (3)

* Cited by examiner, † Cited by third party
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JP2010186220A (en) * 2009-02-10 2010-08-26 Nisca Corp Apparatus and method for monitoring microprocessor
JP2013029939A (en) * 2011-07-27 2013-02-07 Kyocera Document Solutions Inc Control device
JP2016218864A (en) * 2015-05-22 2016-12-22 日本精工株式会社 Reset method for processor, reset program for processor, electronic control device having microcontroller loaded with program, motor driving system having electronic control device, and machine tool having motor driving system

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010186220A (en) * 2009-02-10 2010-08-26 Nisca Corp Apparatus and method for monitoring microprocessor
JP2013029939A (en) * 2011-07-27 2013-02-07 Kyocera Document Solutions Inc Control device
JP2016218864A (en) * 2015-05-22 2016-12-22 日本精工株式会社 Reset method for processor, reset program for processor, electronic control device having microcontroller loaded with program, motor driving system having electronic control device, and machine tool having motor driving system

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