Module System

Abstract

To provide a module system that prevents a signal that does not require real-time performance from interfering with a signal that requires real-time performance when communication with a higher-level control apparatus is passed through bus transmission paths between a master module and a slave module and between slave modules, an operation method of the module system, and an operation program readable to the module system.SOLUTION: In a module system, when a signal from a higher-level control apparatus is transmitted to a slave module via a master module, an appropriate bus transmission path is discriminated and selected according to contents of the signal, and the signal is transmitted and received in parallel with it.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a module system consisting of a higher-level control device, one master module, and one or more slave modules, and to a technology for transmitting signals between modules via an internal bus that is selected depending on the signal. [Background technology]

[0002] For example, in temperature control of a hot press for molding carbon fiber reinforced plastics used in the exterior walls of aircraft fuselages, one master module is connected to multiple slave modules to control the heat sources of multiple targets. The master module receives control conditions for controlling the temperature of multiple heating points to be controlled from a higher-level control device such as a PC or a PLC (programmable logic controller), and transmits control signals (target temperature, manipulated variable, etc.) to the multiple slave modules connected to it based on the received control conditions. Then, each of the slave modules that receives these signals controls the controlled targets based on the received signals (Patent Document 1).

[0003] When controlling multiple heaters for the above-mentioned temperature control and monitoring with thermometers, it is necessary to exchange commands and data quickly and reliably.

[0004] Currently, RS-485 is a communication format that is widely used for control devices. RS-485 is a multipoint serial connection in a bus format that supports multidrop, and specifies the electrical specifications of the physical layer. It has been improved to eliminate the shortcomings of the older and widely used RS-232C (one-to-one connection, short distance), and was developed after the improved version of RS-232C, RS-422 (one-to-10 connection possible, long distance compatible). RS-485 allows many-to-many connections of up to 32-to-32, and like RS-422, has a maximum communication distance of up to 1200m and a maximum transmission speed of 10Mbps (because it is a differential signaling method, the transmission speed decreases as the distance increases, and the transmission speed at the maximum distance is about 100kbps). Also, like RS-422, it uses a single-pulse differential signal on a twisted pair wire, and the common mode voltage, which is the average voltage of the twisted pair wire, is widely allowed to range from -7V to +12V, making it resistant to noise. For this reason, it has long been widely used for communication in control devices that are placed near noise sources such as manufacturing equipment.

[0005] On the other hand, Ethernet communication used for Internet lines is a method of packetizing data with a header and sending it, which is suitable for sending large amounts of data. However, the standard Ethernet communication does not guarantee communication speed or delay time due to specifications. When watching videos on the Internet, the speed sometimes slows down or the image quality deteriorates because there are many users using the line or some users are communicating with large amounts of data. If communication fails due to noise, the communication may be retried, resulting in delays. When a master module used to control manufacturing equipment and other devices is connected to a slave module via an Ethernet communication path, if multiple slave modules communicate with the master module at the same time, the packet transmission may interfere with each other and be canceled, or communication may fail due to noise and be delayed by retrying, or if another user who sends and receives large amounts of data is connected to the Ethernet communication path, the data communication speed may slow down, resulting in poor real-time performance. For this reason, serial communication such as RS-485, which is resistant to noise and has excellent real-time performance, has been adopted between the master module and the slave module.

[0006] Modbus is a communication protocol that uses RS-485 for the physical layer (electrical specifications) and is widely used in industry. Modbus is a serial communication protocol that was established by Modicon in 1979 for their programmable logic controllers (PLCs). It has become the de facto standard communication protocol in the industrial world, and is now the most common method for connecting industrial electronic devices. There are two types of Modbus protocol: Modbus RTU and Modbus ASCII, and later Modbus / TCP, which uses Ethernet as the physical layer, was added.

[0007] In the manufacturing process such as temperature control of the molding hot press described above, one master module and multiple slave modules are connected to control the heat sources of multiple targets. An example of the conventional system is shown in FIG. 9. A higher-level control device (0901) such as a PC or PLC is connected to a communication module (0910) via Ethernet. The communication module (0910) converts between Ethernet communication signals and general-purpose serial communication signals (Modbus RTU). The communication module (0910) and the master module (0902) are connected via a serial communication path and communicate with each other using general-purpose serial communication signals. The master module (0902) and slave module 1 (0903) to slave module n (0905) are cascaded using a serial communication path (serial communication I / F1: RS-485) and an internal bus (serial communication I / F2) that is faster than the serial communication I / F1. The maximum speed for RS-485 is 10Mbps, but the maximum speed for the Modbus RTU protocol, which uses RS-485 as the physical layer, is 115.2kbps. The internal bus uses RS-485 as the physical layer, but since it is configured to connect only short distances between modules consisting of a master module and one or more slave modules, the transmission speed is increased to 1Mbps or more based on Modbus RTU (maximum 115.2kbps). In Figure 9, the serial communication path is indicated by a dotted line, and the Ethernet communication path is indicated by a thick solid line. The slave module and the master module (0902) are the same model, but the master / slave can be switched with a switch setting. One is set as the master and the other as the slave.

[0008] Multiple heaters (0906) and thermometers (0907) are attached to the workpiece (0908) inside the heating furnace (0909). Some of the heaters and thermometers are controlled / monitored by the master module (0902) itself. The remaining heaters and thermometers are controlled by slave module 1 (0903) through slave module n (0905), which are managed by the master module (0902). The higher-level control device (0901) sends commands to the master module (0902) via the communication module (0910) and receives responses from the master module.

[0009] Patent document 1 discloses a technology in which, in a module system consisting of one master module as described above and one or more slave modules, the master module acquires a command signal for the slave module and selects an internal bus to which the command signal should be transmitted in accordance with the acquired command signal. [Prior art documents] [Patent documents]

[0010] [Patent Document 1] Patent application 2019-225845 Summary of the Invention [Problem to be solved by the invention]

[0011] In order to absorb and adjust the differences due to factors such as the structure and composition distribution of the workpiece (0908), the temperature distribution in the heating furnace (0909), the output variation of each heater, and the error of each thermometer in Fig. 9, the heater heating output in each slave module must be adjusted based on the setting profile stored in the master module, otherwise the workpiece cannot be heated according to the desired temperature distribution and temperature profile. Therefore, each slave module transmits the measurement results of the thermometers it manages and the output instruction values ​​to the heaters to the master module at any time, and the master module takes into consideration the overall situation so that the workpiece has the desired temperature distribution and temperature profile, and transmits commands to each slave module so that each heater can realize PID control based on automatic control theory after considering the interactions of each heater. If the master module cannot complete the control, it may be configured to transmit data to a higher-level control device and ask for commands.

[0012] In these communications, it is preferable that the transmission of signals between the internal signal processing system of the master module and the internal signal processing system of the slave module is performed quickly and reliably. In the example of FIG. 9 described above, a large number of slave modules and the master module repeatedly transmit and receive data and commands at intervals of less than one second. Since the control is basically performed by feedback control, the feedback of information indicating the current temperature of the controlled object from the internal signal processing system of the slave module to the internal signal processing system of the master module, and the transmission of the corresponding operation amount from the internal signal processing system of the master module to the internal signal processing system of the slave module quickly contribute to the realization of precise control with excellent responsiveness. For the above-mentioned real-time characteristics (responsiveness, reliability), it is preferable to use the above-mentioned high-speed serial communication (internal bus).

[0013] As shown above, the master module has the basic temperature profile for the heating process using multiple heaters for the workpiece shown in Figure 9. The master module issues commands to the slave modules regarding the control of each heater. Each slave module has differential value information specific to each control point, which is derived from the heating furnace, heater arrangement, etc., and the shape and material of the workpiece to be processed. When processing workpieces with different shapes and materials begins, a reference temperature profile is sent in advance from the upper control device to the master module, and the slave modules are instructed to change settings, such as correcting the differential value information. When switching to a workpiece having a different structure, shape, or material, setting changes can be sent via a relatively slow serial communication path (relatively slow internal bus, general-purpose serial communication) without using the high-speed internal bus described above.

[0014] In cases where the heating process has started with the old settings without being able to rewrite to the new settings, or in cases where some heaters are disconnected during the heating process, there are cases where it is necessary to change the settings during the process, such as revising the temperature profile of the master module as well as correcting the difference values ​​of the slave modules. If a high-speed internal bus is used to transmit the setting data between the master module and the slave module, it is disadvantageous because it causes delays in the control of the functional parts (heater control and temperature data collection, etc.) and impairs real-time performance. For this reason, it is preferable to use a relatively slow bus transmission path (a relatively slow internal bus, a general-purpose serial communication path, etc.). In addition, as described above, the transmission path of the setting data from the upper control device to the master module is not preferable for transferring the setting data, because the communication from the master module to the upper control device via the communication module regarding the control of the heater or thermometer and the transmission of commands from the upper control device to the master module are given priority. In order to transmit the setting data, it was necessary to directly connect a PC (0911) to the maintenance terminal (0912) of the master module installed in a control panel near the manufacturing site and perform the setting.

[0015] In Patent Document 1, the command signal sent to the master module is identified and the internal bus path to be used is selected. When a higher-level device (higher-level control device in this application) is connected to a LAN (Ethernet) or the like, a data conversion device is placed and connected between the higher-level device and the master module, and converts between the TCP / IP protocol used on the higher-level device side and the serial communication signal (Modbus RTU, etc.) used between the master module and the slave module. The data conversion device converts the data into two types of data format depending on the port number and transmits it to the master module. The master module must identify the content of the received command signal and select the internal bus to be used. There is also no mention of a technology for transferring setting data and communicating measurement data such as temperature with the master module and multiple higher-level control devices (PCs and PLCs) in parallel.

[0016] The present invention provides a module system that, when transmitting a signal from a higher-level control device to a slave module via a master module, can determine and select an appropriate bus transmission path depending on the content of the signal, and can transmit and receive signals in parallel. [Means for solving the problem]

[0017] In order to solve the above problems, the present invention provides, as a first invention, Upper control device (AA) and One master module (BA) connected to the host control device (AA) via an Ethernet communication path, which receives commands from the host control device (AA) and outputs responses to the host control device (AA); one or more slave modules (CA) connected to a master module (BA) via serial communication paths, which are multiple types of bus transmission paths available at different transmission speeds, and managed and operated by the master module (BA) with various physical quantity setting values ​​and various control parameters when executing a function to be described later, each having a functional part control function for realizing one or more functions, and serially connected to each other via the multiple types of bus transmission paths; A modular system comprising: The upper control device (AA) is a master module command output unit (AB) for outputting a command to the master module (BA); a master module response acquisition unit (AC) for acquiring a response from the master module (BA); a slave module command output unit (AD) for indirectly outputting a command to the slave module (CA) via the master module (BA); a slave module response acquisition unit (AE) for indirectly acquiring a response from the slave module (CA) via the master module (BA); The device has a master module (BA) and an upper control device Ethernet communication unit (AF) for performing Ethernet communication with the master module (BA), The master module (BA) is A master module Ethernet transceiver unit (BB) for transmitting and receiving Ethernet communication signals to and from an upper control device (AA); A discrimination section (BC) that determines whether the signal received by the master module Ethernet transceiver section (BB) is addressed to itself or to a slave module. a protocol conversion unit (BD) that converts the received Ethernet communication signal into a serial communication signal with the slave module (CA) when the discrimination result by the discrimination unit (BC) indicates that the signal is addressed to the slave module (CA), and converts a serial communication signal received from the slave module (CA) into an Ethernet communication signal as necessary; a transmission line utilization discrimination unit (BE) for discriminating whether the signal is of a type that should utilize a bus transmission line that is available at a relatively high speed or a bus transmission line that is available at a relatively low speed when the discrimination result of the discrimination unit (BC) indicates that the signal is destined for a slave module (CA); a bus transmission / reception unit (BF) that transmits a serial communication signal converted according to the discrimination result in the transmission path discrimination unit (BE) to the slave module (CA) via the identified bus transmission path, and receives a result according to the transmission from the slave module (CA) via the same bus transmission path; If the discrimination result in the discrimination unit (BC) is that the packet is addressed to the master module (BA), A processing unit (BG) that performs processing based on the received Ethernet communication signal; The present invention provides a module system having a

[0018] Furthermore, as a second invention, Upper control device (AA) and One master module (BA) connected to the host control device (AA) via an Ethernet communication path, which receives commands from the host control device (AA) and outputs responses to the host control device (AA); A module system comprising one or more slave modules (CA) connected to a master module (BA) via serial communication paths which are multiple types of bus transmission paths available at different transmission speeds, and managed and operated by the master module (BA) with various physical quantity setting values ​​and various control parameters for executing the functions described below, the modules having a functional part control function for realizing one or more functions, and serially connected to each other via the multiple types of bus transmission paths, The upper control device (AA) is a master module command output unit (AB) for outputting a command to the master module (BA); a master module response acquisition unit (AC) for acquiring a response from the master module (BA); a slave module command output unit (AD) for indirectly outputting a command to the slave module (CA) via the master module (BA); a slave module response acquisition unit (AE) for indirectly acquiring a response from the slave module (CA) via the master module (BA); The device has a master module (BA) and an upper control device Ethernet communication unit (AF) for performing Ethernet communication with the master module (BA), The master module (BA) is A master module Ethernet transceiver unit (BB) for transmitting and receiving Ethernet communication signals to and from an upper control device (AA); a receiving port number acquisition unit (BH) that acquires a receiving port number of a packet formed by an Ethernet communication signal received by a master module Ethernet transmitting / receiving unit (BB); a receiving port number determination unit (BJ) for determining whether the acquired receiving port number is a predetermined receiving port number; a first discrimination unit (BK) that discriminates whether the Ethernet communication signal received by the master module Ethernet transmission / reception unit (BB) is addressed to itself or to a slave module when the result of the judgment by the reception port number judgment unit (BJ) is determined to be a predetermined port number; a second discrimination unit (BM) that discriminates whether the Ethernet communication signal received by the master module Ethernet transmission / reception unit (BB) is addressed to itself or to a slave module when the result of the judgment by the reception port number judgment unit (BJ) is determined to be not a specified port number; a protocol conversion unit (BD) that converts the received Ethernet communication signal into a serial communication signal with the slave module (CA) when the discrimination result by the first discrimination unit (BK) and the second discrimination unit (BM) indicates that the signal is addressed to the slave module (CA), and converts a serial communication signal received from the slave module (CA) into an Ethernet communication signal as necessary; a first bus transmission line selection unit (BN) for selecting a bus transmission line available at a relatively low speed when the determination result in the first determination unit (BK) is that the bus is destined for a slave module (CA); a second bus transmission path selection unit (BP) for selecting a bus transmission path that is relatively high speed and available when the determination result of the second determination unit (BM) is that the bus is destined for a slave module (CA); a bus transmission / reception unit (BF) that transmits a serial communication signal converted according to the selection results in the first bus transmission path selection unit (BN) and the second bus transmission path selection unit (BP) to the slave module (CA) via a determined bus transmission path, and receives a result according to the transmission from the slave module (CA) via the same bus transmission path; When the discrimination results of the first discrimination unit (BK) and the second discrimination unit (BM) are for the master module (BA), A processing unit (BG) that performs processing based on the received Ethernet communication signal; A modular system having a

[0019] Furthermore, there is provided an operating method of a module system which is a computer, comprising an operating method of an upper level control device (AA) which is a computer corresponding to the module system of the first or second invention of the present invention, and an operating method of a master module (BA) which is a computer.

[0020] Furthermore, an operating program that can be read into an upper control device (AA) that is a computer corresponding to the module system of the first invention or the second invention of the present invention; The present invention also provides an operating program that can be read into a module system, which is a computer, comprising an operating program that can be read into a master module (BA), which is a computer, for receiving commands from a higher-level control device (AA) and managing the module system itself or a slave module. Furthermore, each of the operation programs may be recorded on a recording medium. Effect of the Invention

[0021] According to the present invention, when a signal from a higher-level control device is transmitted to a slave module via a master module, the signal can be transmitted in parallel by determining and selecting an appropriate bus transmission path depending on the content of the signal. [Brief description of the drawings]

[0022] [Figure 1] FIG. 1 is a block diagram showing an example of a functional configuration of a module system according to a first embodiment. [Diagram 2] FIG. 1 is a flow chart showing a process flow of the module system according to the first embodiment. [Diagram 3] Hardware configuration diagram of a host control device of the module system of the first embodiment [Figure 4] FIG. 1 is a hardware configuration diagram of a master module of a module system according to a first embodiment. [Diagram 5]FIG. 11 is a block diagram showing an example of a functional configuration of a module system according to a second embodiment. [Figure 6] FIG. 11 is a flow chart showing the process flow of the module system according to the second embodiment. [Figure 7] Hardware configuration diagram of a master module of a module system according to a second embodiment [Figure 8] FIG. 1 is a schematic diagram showing an example of use of the module system of the present invention; [Figure 9] Schematic diagram showing an example of the use of a conventional module system [Figure 10] An example of temperature control in a control system using a module system. [Figure 11] FIG. 13 is a conceptual diagram showing an example of a common packet. [Figure 12] FIG. 13 is a diagram showing an example of data shaping when transmitting from a higher-level control device to a slave module via a master module. [Figure 13] FIG. 13 is an explanatory diagram of an example of allocation of utilization bus transmission paths according to the present invention. [Figure 14] FIG. 2 is an explanatory diagram of a connection example between a master module and a slave module in the module system of the present invention; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0023] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. Note that the present invention should not be limited to these embodiments, and can be embodied in various forms without departing from the spirit of the present invention.

[0024] <Overview of control system including module system>

[0025] FIG. 8 is a schematic diagram showing an example of a control system including a module system. In FIG. 8, a processed member (0808) is placed in a heating furnace (0809), heated by a plurality of heaters (0806), and the temperature of each part of the processed member is measured by a thermometer (0807). This is an example of a control system that determines whether the measured temperature is within a predetermined temperature range and controls the output of the heater (0806). The module system of the present invention is not limited to the example of heating processing shown in FIG. 8, and can be used in various other types of control systems. The difference from the control system conceptual diagram of FIG. 9 showing the conventional technology is the presence or absence of a communication module.

[0026] A PC (0801a) or a PLC (0801b) is connected to a LAN line (Ethernet) (0800) as a higher-level control device, and a master module (0802) is similarly connected to the LAN line (0800). The master module (0802) and the higher-level control device (0801) communicate with each other via the LAN line (Ethernet), including commands and responses. The master module (0802) can manage one or more slave modules. The slave module controls multiple heaters and receives measured values ​​from multiple thermometers. The master module may be responsible for controlling some heaters and thermometers. In addition, although not shown in Figure 8, a general-purpose serial communication path (RS-485 of the Modbus RTU protocol) can also connect another device, such as a recorder, to the end of the slave module n (0805) and send commands to it from the higher-level control device (0801a) to control it.

[0027] During heat processing, the master module (0802) periodically outputs a request for temperature data, and slave module 1 (0803) to slave module n (0805) transmit the temperature data they have acquired as a response to the master module (0802) via a serial communication path (including a bus transmission path; the same applies below. In some cases, a parallel bus may be used.) If the temperature data is configured so that the master module can recognize that it is within a planned control range, the master module may be configured to execute continuous temperature control of the slave modules based on that recognition.

[0028] A serial communication path (internal bus) is used to connect the master module (BA) and slave module (CA) for communication of temperature data, etc., as described above. This is because, when controlling processing, etc., it is important to have real-time communication, that is, to ensure that communication is always performed at a fixed time, as described above. As serial communication paths, a general-purpose serial communication path (RS-485 serial bus of Modbus RTU protocol), an internal bus that is a high-speed serial bus of physical layer RS-485 based on Modbus RTU protocol, and an internal bus that is slower than the high-speed internal bus can be used. The high-speed internal bus is fast at 1Mbps or more, and is used to connect master modules and slave modules, and between slave modules. The general-purpose serial communication path has a maximum speed of 115.2kbps, but in addition to master modules and slave modules, it is possible to connect other recorders that have a general-purpose serial communication path and record data, and it is also possible to issue commands from higher-level connected devices via the master module.

[0029] In Fig. 8, in order to absorb and adjust the differences due to factors such as the structure and composition distribution of the workpiece (0808), the temperature distribution in the heating furnace (0809), the output variation of each heater, and the error of each thermometer, the heater output of each slave module must be adjusted based on the setting profile of the master module, otherwise the workpiece cannot be heated according to the desired temperature distribution and temperature profile. Therefore, each slave module applies its own difference information to the temperature profile of the master module instructed, and performs heating as the setting of each slave module. The results from the thermometer managed by each slave module are sent to the master module, which converts the serial communication signal to an Ethernet communication signal and sends it to the upper control device (AA). The master module (BA) also sends the information of the thermometer managed by itself to the upper control device. In this case, it can be sent as an Ethernet communication signal without signal conversion.

[0030] The control relationship between the master module and the slave module may be as follows, but is not limited to the following example.

[0031] <Master-slave control relationship, slave-independent state type> The master module has the original set temperature profile. For example, the profile is such that the temperature is raised at a certain rate, maintained for a certain time, lowered a little, then maintained at the constant temperature for a certain time again, and lowered back to the original temperature. Each slave module holds its own difference information with respect to the settings of the master module. Based on the temperature profile held by the master module, the slave module applies its own difference information to correct the temperature profile of the master module. Each slave module does not have its own temperature profile, but holds only difference information, and performs control corrected by the difference information by referring to the temperature profile held by the master module as needed. Each slave module may be configured to hold its own temperature profile. Based on each temperature profile, each slave performs PID control of each heater under its jurisdiction based on automatic control theory.

[0032] In Fig. 8, in order to absorb and adjust the differences due to factors such as the structure and composition distribution of the workpiece (0808), the temperature distribution in the heating furnace (0809), the output variation of each heater, and the error of each thermometer, the heater output value in each slave module must be corrected based on the setting profile of the master module, otherwise the workpiece cannot be heated according to the desired temperature distribution and temperature profile. Therefore, each slave module applies its own difference information to the temperature profile of the instructed master module, and performs heating according to the setting temperature profile of each slave module. The results from the thermometers managed by each slave module are sent to the master module, which converts the serial communication signal to an Ethernet communication signal and sends it to the upper control device (AA). The master module (BA) also sends the information of the thermometers managed by itself to the upper control device. In this case, it is possible to send it as an Ethernet communication signal without signal conversion.

[0033] When switching to a workpiece having a different structure, shape, or material, setting changes can be sent via a relatively slow internal bus or a general-purpose serial communication path rather than using the high-speed internal bus connecting the master module and the slave module.

[0034] In cases where the heating process is started with the old settings without being able to rewrite to the new settings, or in cases where some heaters are disconnected during the heating process, it may be necessary to not only revise the temperature profile of the master module but also to revise the difference values ​​of the slave modules during the process. The temperature profile is revised by determining the time to revise based on the temperature data collected while maintaining real-time performance, and sending the setting data to the master module and / or slave module. If a high-speed internal bus is used to send the setting data, there is a large disadvantage because it causes delays in the control of functional components (heater control and temperature data collection, etc.) and impairs real-time performance. For this reason, it is preferable to use a slower bus transmission line (a relatively slower internal bus, a general-purpose serial communication path, etc.) rather than the high-speed internal bus used to control the functional components.

[0035] Figure 10 shows:From the top, the following shows an example of the current temperature profile setting of the master module with respect to temperature control. The second line shows an example of the current temperature profile setting of the master module after the revision. The vertical axis of each graph shows temperature, and the horizontal axis shows time. In the second line graph, the dotted line shows the same temperature profile as the first line before the revision. This shows the case where it was noticed that the temperature rise profile needed to be changed at point A on the time axis, a revised version of the temperature profile was sent, and it was applied from point B. Heater control and temperature information acquisition continue between points A and B while maintaining real-time performance. For necessary work, the revised version of the temperature profile is sent from the upper control device to the master module (BA) via an Ethernet line, and the correction of the difference information to the slave module is transmitted via the master module (BA) via a relatively slow bus transmission path (relatively slow internal bus, general-purpose serial communication path, etc.). Until the setting data is transmitted and applied, the temperature data and heater output value instructions continue in parallel using a high-speed internal bus, etc.

[0036] Each of the parts described below can be realized by a combination of hardware and software. Specifically, if a computer is used, the following may be included: a CPU, a main memory, a non-volatile memory such as a flash memory or an SSD, a storage medium such as a CD or a DVD and a read drive for the storage medium, a DMAC (Direct Memory Access Controller), an internal bus, an external bus, a cache memory, a buffer memory, a bus controller, a buffer memory controller, a cache memory controller, an input device used for inputting information, a PLC, a recorder, a PC, various sensors (temperature, humidity, gas concentration, flow rate, pressure, magnetism, illuminance, etc.), a printer, a display device, and other hardware components such as other external peripheral devices, interfaces for the external peripheral devices, various communication interfaces, LEDs, various switches (dip switches, toggle switches, etc.), a USB interface, a Bluetooth (registered trademark) interface, a tablet terminal, a mobile PC, a smartphone, an Ethernet cable, a driver program for controlling the hardware, other application programs, and a user interface application. The CPU performs calculations according to the programs deployed in the main memory, and processes and stores data input from input devices and other interfaces and stored in the memory or hard disk, and generates commands to control the above hardware and software. Alternatively, the functional blocks of this device may be realized by dedicated hardware.

[0037] In addition, each embodiment described in this specification can be realized not only as an operating method, but also as an apparatus, part or all of which can be realized. In addition, a part of such an apparatus can be configured as software. Furthermore, software products used to cause a computer to execute such software, and recording media on which such products are fixed, are naturally included in the technical scope of each embodiment described in this specification (the same applies throughout this specification).

[0038] <Embodiment 1> Mainly claim 1 <Overview of embodiment 1>

[0039] This is a module system consisting of a master module connected to a higher-level control device via a LAN (Ethernet (registered trademark)) line, and one or more slave modules connected to the master module via a serial communication path. The system is configured so that a high-speed bus transmission path is used for transmission of signals between the internal signal processing system of the master module, which requires real-time performance, and the internal signal processing system of the slave module, and a relatively slow bus transmission path is selected for transmission of commands to the master module and / or slave module, such as revising setting values. <Functional configuration of embodiment 1>

[0040] Fig. 1 is a block diagram showing an example of a functional configuration of a module system according to the first embodiment of the present invention. As shown in the figure, the module system of the present invention includes an upper control device (AA) (0100) including a master module command output unit (AB) (0101), a master module response acquisition unit (AC) (0102), a slave module command output unit (AD) (0103), a slave module response acquisition unit (AE) (0104), and an upper control device Ethernet communication unit (AF) (0105), a master module (BA) (0150) including a master module Ethernet transmission / reception unit (BB) (0151), a discrimination unit (BC) (0152), a protocol conversion unit (BD) (0153), a utilization transmission path discrimination unit (BE) (0154), a bus transmission / reception unit (BF) (0155), and a processing unit (BG) (0156), and a slave module (CA) (0170). The master module (BA) and slave module (CA) each have a general-purpose serial communication path (RS-485 serial bus based on the Modbus RTU protocol) and multiple internal buses with different speeds as bus transmission paths.

[0041] Each of the functional blocks constituting the module system described below can be realized by hardware, software, or both. Specifically, if a computer is used, the following may be used: a CPU, main memory, GPU, image memory, graphic board, bus, or secondary storage device (such as a hard disk, non-volatile memory, storage media such as CDs and DVDs, and drives for reading these media), input devices such as operation buttons used for inputting information, a mouse, a touch panel, an electronic pen used solely for touching a touch panel, a joystick or a joystick-like pointer position input device, a printer, and other hardware components such as an interface for the external peripheral devices, a temperature sensor, a gyro sensor, an acceleration sensor, a rotation detection sensor, a processing device for the signals of these sensors, an image file processing circuit, a speaker, a microphone, an audio file processing circuit, a communication interface, an encryption device, a biometric authentication device such as a fingerprint authentication device, a palm print authentication device, and a retina authentication device, a driver program for controlling the hardware, and other application programs. In particular, a smartphone, a tablet terminal, a personal computer, a server device in a data center, a wired / wireless network, and an interface are used.

[0042] The CPU performs calculations according to the programs deployed on the main memory, and processes and stores data input from input devices and other interfaces and held in the memory or hardware, and generates commands to control the hardware and software. The programs may be realized as multiple modularized programs, or may be realized as a single program by combining two or more programs.

[0043] The present invention may also be partially configured as software. Furthermore, storage media on which such software is recorded are naturally included within the technical scope of the present invention (this is not limited to this embodiment, but applies throughout the entire specification).

[0044] <Description of the configuration of embodiment 1> <Embodiment 1: Master module command output unit (AB) (0101)> The master module command output section (AB) (0101) of the higher level control device (AA) is configured to output a command to the master module (BA).

[0045] The upper control device (AA) communicates via Ethernet. By signal It outputs commands to the master module (BA). Ethernet communication signals generally use the TCP / IP protocol. The packets of communication protocols such as Modbus / TCP, which conform to the TCP / IP protocol but are formulated for specific applications, all have their own formats for the data retention format within the payload, but the data frames are the same as those of the TCP / IP protocol, and these packets are called common packets.

[0046] FIG. 11(a) shows a "TCP / IP packet," and FIG. 11(b) shows a "Modbus / TCP packet" as an example of a common packet.

[0047] As shown in Fig. 11(a), a TCP / IP packet consists of a TCP header and a payload, and the TCP header stores "management information" related to transmission, such as the source port number, destination port number, sequence number, acknowledgment number, etc. The payload stores the "data body."

[0048] As shown in Figure 11(b), the Modbus / TCP packet also holds a "data body" with a "Modbus application header," which is the header of the Modbus protocol, added within the payload of the data frame of the TCP / IP packet.

[0049] When the higher-level control device (AA) outputs a command to the master module (BA) or slave module (CA), it outputs it with a device management number for identification. For example, the master module (BA) is numbered #1, and the slave module (CA) is numbered #2, #3, or other numbers greater than one. This is used by the discrimination section (BC) (0152) of the master module (BA), which will be described later, to determine whether the command is addressed to the master module or the slave module. The device management number is entered as the unit ID included in the Modbus application header.

[0050] <First embodiment: Master module response acquisition unit (AC) (0102)> The master module response acquisition unit (AC) (0102) of the higher level control device (AA) is configured to acquire a response from the master module (BA).

[0051] <Embodiment 1: Command output unit (AD) (0103) for slave module> The slave module command output section (AD) (0103) of the higher level control device (AA) is configured to indirectly output a command to the slave module (CA) via the master module (BA).

[0052] As with the above-mentioned master module command output unit (AB) (0101), when the higher-level control device (AA) outputs a command to the slave module (CA), it outputs an equipment management number (or, in some cases, a decipherable destination port number) such as a number equal to or greater than two, such as #2 or #3, for identification purposes.

[0053] <First embodiment: Slave module response acquisition unit (AE) (0104)> The slave module response acquisition unit (AE) (0104) of the higher-level control device (AA) is configured to indirectly acquire a response from the slave module (CA) via the master module (BA). In other words, information as a response from the slave module to the higher-level control device is transmitted via the master module that can directly communicate with the higher-level control device.

[0054] <Embodiment 1: Upper control device Ethernet communication unit (AF) (0105)> The upper control device Ethernet communication unit (AF) (0105) of the upper control device (AA) is configured to perform Ethernet communication with the master module (BA).

[0055] The higher-level control device (AA) transmits commands with device management numbers attached thereto as Ethernet communication signals to the master module (BA) output from the master module command output unit (AB) and slave module command output unit (AD) as Ethernet communication signals to the master module (BA).The higher-level control device (AA) also receives a response signal by an Ethernet communication signal transmitted from the master module (BA), and outputs the response to the master module response acquisition unit (AC) or slave module response acquisition unit (AE) according to the device management number attached to the signal.

[0056] <Embodiment 1: Upper control device (AA) (0101)> The upper level control device (AA) (0101) is configured to issue commands to the master module (BA) connected via an Ethernet communication path and receive responses.

[0057] It is considered that the module system of the present invention will often be installed in the control panel of the manufacturing equipment at the manufacturing site. The module system will be used in such a way that commands are output to the module system and data is received from a host control device (AA) in a management room or the like that is separated from the control panel of the manufacturing equipment and connected via an Ethernet communication path or the like. A desktop PC or a notebook PC can be used as the host control device (AA). The received data can be conveniently used to create documents or for analysis.

[0058] When the host control device is not a dedicated PC for the device but a PC used by an engineer or worker that is intermittently connected, it is advisable to set up a server on the Ethernet where the host control device and the master module are connected, and set up a database in the server that continuously records the history of communications sent and received between the host control device and the master module, the access history of the host control device, commands to the functional components under the control of the master module and slave module, and status information of the functional components, etc. When engineers or workers replace their PCs when working in shifts, or when accessing from a location other than the normal control room due to teleworking, etc., they can view the past status history and the history of commands issued.

[0059] <Embodiment 1: Master module Ethernet transceiver (BB) (0151)> The master module Ethernet transceiver (BB) (0151) of the master module (BA) is configured to receive an Ethernet communication signal from a higher-level control device. The master module Ethernet transceiver is configured to be able to execute processes independently of the bus transceiver (BE) described below. In other words, the fact that one of them is transmitting or receiving does not restrict the processing of the other, or restricts it only very little. "Very little" refers to cases where the efficiency of use of hardware resources such as the CPU, MPU, and communication-dedicated LSI is restricted. However, such restrictions are only generated when very special conditions are met (for example, a large amount of processing data is generated due to an unexpected programming error), and are configured not to occur in general processing.

[0060] <Embodiment 1: Discrimination Unit (BC) (0152)> The discrimination unit (BC) (0152) of the master module (BA) is configured to discriminate whether the Ethernet communication signal received by the master module Ethernet transceiver unit (BB) (0151) is addressed to itself or to the slave module (CA). The device control number attached to the signal output from the higher-level control device (AA) determines whether the signal is addressed to the master module itself or to a slave module.

[0061] If the device control number is written as a unit ID in the Modbus application header in the payload of the common packet of the Ethernet communication signal, the unit ID is read and it is determined whether it is addressed to the master module (BA) itself or to one or more slave modules. If it is addressed to a slave module, the subsequent processing is performed in the protocol conversion unit described below. If it is addressed to the master module itself, the subsequent processing is performed in the processing unit described below.

[0062] <Embodiment 1: Protocol Conversion Unit (BD) (0153)> The protocol conversion unit (BD) (0153) of the master module (BA) is configured to convert the received Ethernet communication signal into a serial communication signal with a slave module when the discrimination result in the discrimination unit (BC) is that the signal is addressed to a slave, and to convert the serial communication signal received from the slave module (CA) into an Ethernet communication signal as necessary.

[0063] Modbus / TCP can be used as the Ethernet communication signal, and Modbus RTU can be used for serial communication such as RS-485. Figure 12(a) shows a common packet, and as shown in Figure 12(b), a local packet consisting of a "Modbus application header" and a "data body" is obtained from the common packet. Then, as shown in Figure 12(c), the "Modbus application header", which is the header of the local packet, is removed except for the unit ID contained therein. The unit ID is added as an address to the beginning of the data body. If the downstream protocol is Modbus RTU (Remote Terminal Unit) mode, a CRC is added, and if it is Modbus ASCII (American Standard Code Information Interchange) mode, it is converted to ASCII code and an LRC is added.

[0064] Furthermore, as shown in Fig. 12(d), for example, the data is shaped into a Modbus protocol message frame, which is a serial communication protocol packet used for communication with the slave module. The "address" corresponds to the "unit ID" included in the Modbus application header. The function code sets the function that the master module is to execute for the slave module. The "data" stores data related to the function code. The data shaped in this way becomes the shaped data to be transmitted from the master module to the slave module. Although the Modbus protocol is shown in this example, in the case of other protocols, the header can be removed according to the protocol and the data can be shaped into the serial communication protocol data format used for communication with the slave module. To convert the protocol for the response from the slave module to the upper control device, the above steps are reversed.

[0065] <Embodiment 1: Utilized Transmission Path Determination Unit (BE) (0154)> <Basic configuration> The transmission path utilization discrimination unit (BE) (0154) of the master module (BA) is configured to discriminate, when the discrimination result of the discrimination unit (BC) indicates that the signal is addressed to the slave module (CA), whether the signal is of a type that should utilize a bus transmission path that is available at a relatively high speed or a bus transmission path that is available at a relatively low speed.

[0066] As the bus for serial communication, the RS-485 serial bus of the Modbus RTU protocol, which is a general-purpose serial communication path, a higher-speed internal bus connecting between the master module and the slave module and between the slave modules themselves, and a relatively slow internal bus can be used. Modbus is a serial communication protocol formulated by Modicon in 1979 for their programmable logic controllers (PLCs). It has become the de facto standard communication protocol in the industrial world, and is currently the most common means of connecting industrial electronic devices. The sending of monitoring data and the output and exchange of feedback from functional components such as heaters and thermometers controlled and monitored by the slave module and / or master module require real-time performance, so a high-speed available internal bus is selected, and a relatively slow transmission path (internal bus, general-purpose serial communication path) is selected for transmission of setting value changes to the slave module. It is possible to decide in advance that a high-speed internal bus will be allocated for sending monitoring data of functional components that require real-time communication content and for outputting and receiving feedback, as described above, and that a slower transmission path will be allocated for sending data for changing parameter settings of each slave module during maintenance or other times when speed is not as important.

[0067] <Other configurations> The "transmission line discrimination unit" has the above basic functions, but the module system is configured to have a transmission line discrimination rule that holds the rule used for discrimination, inside or outside the transmission line discrimination unit. That is, the module system is configured to further have a transmission line discrimination rule storage means or a transmission line discrimination rule storage unit. Here, the "transmission line discrimination rule" is configured to use the rule to discriminate the transmission line to be used when it is determined that an Ethernet communication signal (means information content composed of an Ethernet communication signal; the same applies below) received from the master module is destined for a slave module. The content of this rule may be a rule that records the transmission line type to be used in association with the type of signal (command, etc.) to the slave module (preferably recorded in an Ethernet packet header or a transmission line protocol (Modbus RTU, etc.) packet header), or a rule that discriminates the transmission line to be used according to a transmission line type identifier recorded in the header of an Ethernet packet or the header of a transmission line dedicated signal in the payload of an Ethernet packet. Alternatively, the transmission line to be used may be discriminated according to the amount of signals that must be transmitted. Alternatively, the rule may monitor the congestion state of each transmission path and determine the transmission path to be used depending on the congestion state. Alternatively, the rule may determine the transmission path to be used depending on the device management number or slave type (such as a type determined depending on the functional parts managed by the slave) of the destination slave, or may associate the destination port number of the Ethernet processing of the master module specified in the Ethernet packet with the transmission path type. Of course, it is also possible to use these in combination to create a rule that determines the transmission path to be used.

[0068] <Embodiment 1 Bus Transmitter / Receiver (BF) (0155)> The bus transmission / reception unit (BF) (0155) of the master module (BA) is configured to transmit the converted serial communication signal to the slave module (CA) via a bus transmission path, and receive the result according to the transmission from the slave module (CA) via the same bus transmission path. The bus for serial communication is an internal bus, an RS-485 serial bus of the Modbus RTU protocol, Buses, etc. It can be used.

[0069] The bus transceiver unit (BE) of the master module is configured so that it can execute processes independently of the master module Ethernet transceiver unit (BB) described above. In other words, the fact that one of them is transmitting or receiving does not restrict the processing of the other, or restricts it only very little. "Very little" means that there is a restriction on the efficiency of use of the hardware resources of the CPU, MPU, and communication-dedicated LSI. However, such restrictions only arise when very special conditions are met (for example, a large amount of processing data is generated due to an unexpected programming error), and are configured so that they do not arise in general processing.

[0070] <Embodiment 1 Processing Section (BG) (0156)> The processing unit (BG) (0156) of the master module (BA) is configured to directly carry out processing based on the received Ethernet communication signal when the discrimination result in the discrimination unit (BC) indicates that the signal is addressed to the master.

[0071] It modifies the temperature profile held by the master module, transmits the modified profile to the slave module, and performs other processes such as controlling the heaters connected to it.

[0072] <Embodiment 1 Master Module (BA) (0150)> The master module (BA) (0150) is configured to receive commands from a higher-level control device (AA) connected via an Ethernet communication path and output responses, and is also configured to be connected via a serial communication path, which is a bus transmission path, to one or more slave modules (CA) that are serially connected to the other slave modules (CA) and to directly manage them.

[0073] <Embodiment 1 Slave module (CA) (0170)> The slave module (CA) (0170) is one or more slave modules serially connected to other slave modules (CA) via a bus transmission line, and is configured to have a function of controlling functional components.

[0074] The functional part control function refers to, for example, a function to manage one or more thermometers or control heaters (but is not limited to this function). As a control method, there is a method in which each slave module has differential information and performs PID control of each heater that it manages based on the temperature profile of the master module, as in the above-mentioned "master-slave control relationship, slave independent state type."

[0075] When multiple higher-level control devices and the master module communicate at the same time, The master module receives communication from the upper control device via Ethernet. a received signal identification information storage unit which stores, in association with each other, packet identification information for identifying a received signal, a source IP address included in an IP header of the received communication, a device management number of a destination slave module, and information on a data body including an instruction; a reception identification information search unit for searching for an IP address of a higher-level control device that is a source of the command by comparing the slave module's device management number included in the response from the slave module and the contents of the data with the slave module's device management number stored in the reception signal identification information storage unit and a data body including a command. This can be achieved by configuring the master module Ethernet transceiver unit to output the data included in the slave module's response and the slave module's device management number to the source IP address obtained by the reception identification information search unit.

[0076] When engineers or workers change PCs when working in shifts, or when they access the master module via LAN from a location other than the normal control room due to teleworking, they can view the past status history and the history of issued commands. In this case, a security authentication unit is installed at the Ethernet communication inlet of the master module, and it is configured so that workers with access authority, administrators with management authority, and members of the system department can access it after being authenticated. It refers to the access authority information stored in association with user information stored by authentication means such as passwords, biometric authentication, or magnetic records, ICs, and wireless tags built into employee ID cards, and determines whether or not the user has access authority and authenticates them.

[0077] Once authenticated, the module system of the present invention can be used according to the access rules that indicate the access range according to the access authority held. For example, the access rules include guest authority that can only view the history information stored in the database to check the status, the current status of the master module and / or slave module, general authority that can perform routine processing work, and administrator authority without restrictions (not limited to this classification). Once authenticated, a session ID is issued for communication between the PC used at the time of access and the master module. While communication continues, a session ID is attached to the communication, indicating that the access has been authenticated. Even if processing work is ongoing, the communication can be terminated when the worker is replaced due to a shift change such as a day shift / night shift. In that case, the session ID is discarded, and a different session ID is issued to the worker who starts accessing in place. Teleworkers who work from home outside the security controlled area of ​​a factory or the like, or people on business trips outside the factory, can connect to the factory's internal LAN line via a VPN server, access the security authentication unit of the master module, and obtain authentication.

[0078] <Processing flow of embodiment 1> Figure 2 shows the process flow of the module system of embodiment 1. The part on the left surrounded by a dashed line indicates the process flow in the upper control device (AA), and the part on the right surrounded by a dashed line indicates the process flow in the master module (BA). The slave module (CA) is located at the bottom right, communicating with the master module (BA) via a serial communication path. The process within the slave module (CA) is not shown. In the upper control device (AA), First, a process is performed to determine whether a command is to be issued to the master module or to the slave module (SA0201). When the upper control device (AA) sends a command to the master module (BA), The step (ab) (SA0202) of outputting a command to the master module (BA) performs a process of outputting a command to the master module (BA), When the upper control device (AA) transmits a command to the slave module (CA), the slave module command output step (ad) (SA0203) outputs the command to the slave module (CA) indirectly via the master module (BA). The upper control device Ethernet communication step (af) (SA0204) processes Ethernet communication with the master module (BA), The master module response acquisition step (ac) (SA0205) performs a process of acquiring a response from the master module (BA), The slave module response acquisition step (ae) (SA0206) performs processing to indirectly acquire a response from the slave module (CA) via the master module (BA).

[0079] In the master module (BA), The master module Ethernet transmission / reception step (bb) (SB0201) performs processing to receive Ethernet communication signals from the upper control device (AA), The determination step (bc) (SB0202) performs processing to determine whether the Ethernet communication signal received by the master module Ethernet transmission / reception step (bb) (SB0201) is addressed to itself or to the slave module (CA), If the determination result in the determination step (bc) (SB0202) is that the signal is destined for the master module, a processing step (bg) (SB0203) performs processing based on the received Ethernet communication signal, and outputs the processed result to a master module Ethernet transmission / reception step (bb) (SB0208) as necessary. If the determination result in the determination step (bc) (SB0202) is that the message is addressed to a slave module, A protocol conversion step (bd) (SB0204) converts the received Ethernet communication signal into a serial communication signal with a slave module, A transmission line utilization discrimination step (be) (SB0205) performs a process of discriminating whether the signal is of a type that should utilize a bus transmission line that can be used at a relatively high speed or a bus transmission line that can be used at a relatively low speed when the discrimination result in the discrimination step (bc) (SB0202) indicates that the signal is destined for a slave module (CA) and A bus transmission / reception step (bf) (SB0206) transmits the converted serial communication signal to the slave module (CA) via a bus transmission path, and receives a result corresponding to the transmission from the slave module (CA) also via the bus transmission path. The protocol conversion step (bd) (SB0207) converts the serial communication signal received from the slave module (CA) into an Ethernet communication signal as necessary, The master module Ethernet transmission / reception step (bb) (SB0208) performs processing for transmitting an Ethernet communication signal to the upper control device (AA). This is an operating method for causing the module system to execute such a series of processes.

[0080] <Embodiment 1 Hardware>

[0081] 3 is a conceptual diagram showing an example of the hardware configuration of the upper control device (AA) of the module system of this embodiment. As shown in the figure, the upper control device (AA) is likely to use a PC or the like, and has a configuration similar to that of a PC. It is composed of a "CPU", a "chipset" consisting of a north bridge and a south bridge, a "non-volatile memory", a "main memory", an "I / O controller", "USB, IEEE1394, LAN terminal, etc.", a "BIOS", a "PCI slot", a "real-time clock", etc.

[0082] The various programs and data (information) stored in the non-volatile memory are expanded into the main memory when the system is started up, and upon receiving an execution command, the CPU sequentially executes the programs to perform calculations using the data.

[0083] That is, as shown in Fig. 3, the upper control device (AA) has, in addition to the OS (operating system) and device drivers, a program for outputting commands to the master module, a program for acquiring responses to the master module, a program for outputting commands to the slave module, a program for acquiring responses to the slave module, and an upper control device Ethernet communication program in the non-volatile memory, and holds data such as commands to the master module, responses to the master module, commands to the slave module, and responses to the slave module. These are expanded in the main memory when the system is started on the computer, and when a start command is received, the CPU sequentially performs calculations using the programs and data, and exchanges commands and responses with the master module or with the slave module via the master module. The non-volatile memory of the upper control device (AA) may also contain a control program for managing and displaying information about the control system using the master module, and other business software programs.

[0084] 4 is a conceptual diagram showing an example of the hardware configuration of the master module (BA) of the module system of this embodiment. As shown in the figure, the master module includes a CPU (0401), a non-volatile memory (0402) (e.g., ROM, SSD, etc.), a main memory (0403), an Ethernet communication I / F (0404) (in FIG. 4, the interface is abbreviated to I / F) for connecting to a control PC, a recorder, etc., and a general-purpose serial communication interface I / F1 (0405) for connecting to a control module, etc. and the userThe system is equipped with a bus controller (0409) for controlling the I / F (0406) and the communication I / F (0411) with the internal bus (0410), a controller DMAC (0408) for performing DMA (a method of transferring data to and from memory without going through the CPU) during internal bus transmission, and a system bus (0407) for sending and receiving signals between them. A customized dedicated CPU is used as the CPU, and dedicated firmware can be used instead of an OS (operating system). A system with a multi-core CPU and / or sufficient cache memory is also preferable, as it is easier to prevent operational delays due to insufficient memory.

[0085] In addition to the OS (operating system) and device drivers, non-volatile memory also contains A master module Ethernet transmission / reception program that transmits and receives Ethernet communication signals to and from higher-level control devices; a discrimination program for discriminating whether the received Ethernet communication signal is addressed to itself or to a slave module (CA); a processing program for directly processing the received Ethernet communication signal when the determination result in the processing program indicates that the signal is addressed to a master; a protocol conversion program that converts the received Ethernet communication signal into a serial communication signal with a slave module when the discrimination result of the discrimination program indicates that the signal is addressed to a slave, and converts a serial communication signal received from the slave module (CA) into an Ethernet communication signal as necessary; a transmission line utilization discrimination program for discriminating whether the signal is of a type that should utilize a bus transmission line that is available at a relatively high speed or a bus transmission line that is available at a relatively low speed when the discrimination result of the discrimination unit program indicates that the signal is destined for a slave module (CA); The converted serial communication signal is transmitted to the slave module (CA) via the serial communication I / F or the internal bus via the bus controller, and the result according to the transmission from the slave module (CA) is received via the serial communication I / F or the bus transmission path. Various programs and specific port numbers are recorded. Then, each program is deployed and executed, and information and data acquired via the interface are stored in the non-volatile memory, and the stored information and data are processed by executing the program in the work area of ​​the main memory, and the information and data are retained in the non-volatile memory, or output to the upper control device (AA) by executing the program via the Ethernet communication interface. <Effects of embodiment 1>

[0086] According to the module system of this embodiment, the conventional communication module and master module are integrated, so that the upper control device (AA) and the master module (BA) are connected by a high-speed Ethernet communication path. The master module is a serial communication path conforming to RS-485 specifications, and can communicate with multiple internal buses with different speeds and the RS-485 of the general-purpose Modbus RTU protocol. Two types of serial bus It has a bus transmission path. It can distinguish and allocate communications between master and slave modules so that a high-speed bus transmission path is used for communications that require real-time performance, such as control and monitoring of functional components, and a relatively slow transmission path is used for communications that do not require real-time performance, such as other configuration changes. Therefore, configuration changes can be made without interfering with the control and monitoring of functional components. In addition, by sending configuration data via an Ethernet communication path, configuration changes can also be made from a location far away from the target device.

[0087] <Embodiment 2> <Overview of embodiment 2> Mainly claim 4 In the first embodiment, the signal transmitted from the higher-level control device (AA) and received by the master module (BA) is first determined to be for the master module or the slave module, and then, if it is for the slave module, the signal is shaped by protocol conversion, and then the bus transmission path to be used is determined. On the other hand, in the second embodiment, the order of determination is reversed from that of the first embodiment, and the transmission path to be used is determined by referring to the destination port number included in the TCP header of the TCP / IP protocol signal output from the higher-level control device (AA), and then, whether it is for the master module or the slave module is determined by referring to the unit ID, and if it is for the slave module, the protocol is converted and the signal is transmitted to the corresponding slave module via the selected bus transmission path. Hereinafter, the term "receiving port number" may be written to mean the destination port number in this specification.

[0088] The selection and determination of the bus transmission path in this embodiment will be described with reference to the table in FIG. 13. The left column shows cases where the receiving port number is a specific one (e.g., 502), and the right column shows cases where the receiving port number is not a specific one (e.g., other than 502). After classification according to the receiving port number, the signals are assigned according to the device management number (unit ID in the Modbus application header) as either a master module (device management number 1), a slave module (device management number 2 or later), or other devices (device management number 2 or later). If the receiving port number is a specific receiving port number (e.g., 502) and the signal is addressed to a slave module or other devices, a relatively slow bus transmission path (e.g., Moddbus RTU) is assigned. If the receiving port number is a specific number other than the specific receiving port number (e.g., other than 502) and the signal is addressed to a slave module, a relatively high-speed bus transmission path is assigned.

[0089] As shown in the configuration example in FIG. 14, a PC (1401) or PC (1402) is connected as a higher-level control device via Ethernet (1400). A master module (1403) is also connected to the Ethernet (1400) and transmits and receives signals with the PC, which is a higher-level control device. When the master module receives a signal from the higher-level control device with a specific receiving port number (e.g., 502) as the destination port number (receiving port number) written in the TCP header, the master module determines from the receiving port number that this is a signal that should use a relatively slow bus transmission path (1408), and determines whether the signal is addressed to the master module, a slave module, or another device based on the unit ID in the Modbus application header. If it is addressed to a slave module or another device, the Modbus RTU protocol RS-485 Serial Bus The shaped data is transmitted to slave module 1 (1404), slave module 2 (1405), slave module n (1406), recorder, PLC, etc. (1407) using a bus transmission path such as the above. The PLC connected via RS-485 can communicate with the slave modules, etc. using the Modbus RTU protocol.

[0090] In this specification, 502 is given as an example of a predetermined receiving port number, but conversely, a specific number other than 502 may be used as the predetermined receiving port number, and 502 may be used as a receiving port number that is not a predetermined receiving port number. You may do so.

[0091] <Functional configuration of embodiment 2> 5 is a functional block diagram showing an example of the functional configuration of the module system according to the second embodiment of the present invention. As shown in the figure, in the module system according to the second embodiment of the present invention, the configuration of the higher-level control device (AA) is the same as that of the first embodiment, and the master module (BA) (0550) has a master module Ethernet transceiver (BB) (0551), a receiving port number acquisition unit (BH) (0557), a receiving port number determination unit (BJ) (0558), a first determination unit (BK) (0559), a second determination unit (BM) (0560), a protocol conversion unit (BD) (0553), a first bus transmission path selection unit (BN) (0561), a second bus transmission path selection unit (BP) (0562), a bus transceiver (BF) (0555), a processing unit (BG) (0556), and a slave module (CA) (0570). The master module (BA) and slave module (CA) have a general-purpose serial communication path (RS-485 serial bus of the Modbus RTU protocol) and multiple internal buses of different speeds as relatively slow and relatively fast bus transmission paths.

[0092] <Description of the configuration of embodiment 2> The higher level control device (AA) has the same configuration as in embodiment 1, and therefore the description thereof will be omitted. An example of the configuration of the master module will be described below with reference to FIG.

[0093] <Embodiment 2: Configuration of Master Module> <Embodiment 2: Master module Ethernet transceiver (BB) (0551)> The master module Ethernet transceiver unit (BB) (0551) is configured to transmit and receive Ethernet communication signals to and from the upper control device (AA).

[0094] It is configured to receive Ethernet communication signals from a higher-level control device. The master module Ethernet transceiver is configured to be able to execute processes independently of the bus transceiver (BE), which will be described later. In other words, the fact that one of them is transmitting or receiving does not restrict the processing of the other, or restricts it only very slightly. "Very slightly" refers to cases where the efficiency of use of hardware resources such as the CPU, MPU, and communication-dedicated LSI is restricted. However, such restrictions arise only when very special conditions are met (for example, a large amount of processing data is generated due to an unexpected programming error), and are configured not to arise in general processing.

[0095] <Embodiment 2: Receiving port number acquisition unit (BH) (0557)> The receiving port number acquisition unit (BH) (0557) is configured to acquire the receiving port number of a packet formed by an Ethernet communication signal received by the master module Ethernet transmitting / receiving unit (BB).

[0096] The master module obtains the receiving port number (which corresponds to the destination port number) contained in the TCP header of the signal received from the upper control device (AA). The receiving port number is written as the destination port number next to the source port number in the TCP header. The receiving port number determination unit (BJ), which will be described later, determines whether the obtained receiving port number is a specified number.

[0097] <Second embodiment: Receiving port number determination unit (BJ) (0558)> The receiving port number determination unit (BJ) (0558) is configured to determine whether the acquired receiving port number is a predetermined receiving port number.

[0098] For example, a well-known port number is specified as the predetermined number. As an example of a well-known port number, when data of the Modbus protocol is included in the payload, the destination port number (receiving port number) is set to 502, which is a well-known port number meaning the Modbus protocol. As described above, Modbus is a serial communication protocol formulated by Modicon in 1979 for their programmable logic controllers (PLCs), and has become the de facto standard communication protocol in the industrial world, and is currently the most common means for connecting industrial electronic devices. In addition to the predetermined receiving port number, numbers that are not reserved in the TCP / IP protocol or the like (e.g., dynamic private port numbers (49152 to 65535), etc., are also possible) can be used as appropriate port numbers in the module system of the present invention. A plurality of predetermined receiving port numbers can also be used. For example, a receiving port number information holding means for holding information of a plurality of predetermined receiving port numbers can be provided in the receiving port number determination unit (BJ), and when there are a plurality of relatively slow bus transmission paths available, a relatively slow bus transmission path can be assigned to each predetermined receiving port number. For example, "502" would assign a general-purpose serial communication path (such as RS-485), and "55555" would assign an internal bus (low speed).

[0099] <Embodiment 2 First discrimination part (BK) (0559)> The first determination unit (BK) (0559) is configured to determine whether the Ethernet communication signal received by the master module Ethernet transceiver unit (BB) is addressed to itself or to a slave module when the result of the determination by the receiving port number determination unit (BJ) is determined to be a specified port number.

[0100] An example of the predetermined port number is 502 (a well-known port number indicating the Modbus protocol) as described above. Depending on whether the signal received at the predetermined port number is addressed to a slave module or a master module, the subsequent processing is divided into processing the received signal in the master module (BA) or processing for outputting to the slave module. The determination of whether it is addressed to the master module or the slave module is made by referring to the unit ID (= device management number) included in the Modbus application header. For example, if it is 1, it is determined to be addressed to the master module, and if it is 2 or more, it is determined to be addressed to the slave module. Note that recorders, PLCs, etc. other than the master module and slave module may be connected to the bus transmission path, which is a general-purpose serial communication path. It is sufficient that the number of master modules and slave modules, including the number of units, is within the number that can be connected to the bus transmission path, and that the device management numbers do not overlap. It is possible to communicate with recorders, PLCs, etc. via the bus transmission path. Alternatively, it is possible to configure it so that it is determined whether it is addressed to the master module, the slave module, or the recorder, PLC, etc. connected on the bus transmission path by referring to the command stored in the data body of the received signal. In that case, a command correspondence information holding means may be provided to hold command correspondence information, which is information indicating the correspondence between commands and destinations, and the destination may be determined by comparing the held command with the command contained in the data body.

[0101] You can also specify a receiving port number other than 502 as the specified port number. It can also be configured.A plurality of predetermined port numbers can be used. For example, when a plurality of predetermined port numbers are used and a plurality of relatively slow bus transmission paths are provided, the first determination unit can be provided with an available bus transmission path corresponding port number holding means for holding the correspondence with the available relatively slow bus transmission paths for each predetermined port number, and the corresponding bus transmission path can be selected by a first bus transmission path selection unit described later, and communication including commands can be output to the slave module. For example, if "502" is assigned, a general-purpose serial communication path (RS-485, etc.) is assigned, and if "55555" is assigned, an internal bus (low speed) is assigned. Note that in the case of a command to the master module, the master module itself performs the corresponding processing in a processing unit described later.

[0102] <Embodiment 2: Second discrimination unit (BM) (0560)> The second discrimination unit (BM) (0560) is configured to discriminate whether the Ethernet communication signal received by the master module Ethernet transceiver unit (BB) is addressed to itself or to a slave module when the result of the judgment by the receiving port number judgment unit (BJ) is determined to be not a specified port number.

[0103] An example of a case where the port number is not a specific port number is a dynamic private port number (49152 to 65535) as described above. When a number other than 502 is set as the specific port number, the receiving port number may be 502 as a case where the port number is not a specific port number. Depending on whether the signal received at the port number other than the specific port number is addressed to the slave module or the master module, the subsequent processing is divided into processing the received signal in the master module (BA) or processing for outputting to the slave module. Alternatively, it is possible to refer to the command stored in the data body of the received signal and determine whether the signal is addressed to the master module or the slave module, or whether the signal is addressed to other devices (such as a recorder or PLC) if other devices are connected on the bus transmission line. In that case, a command correspondence information storage means for storing command correspondence information, which is information showing the correspondence between the command and the destination, may be provided, and the destination may be determined by comparing the stored command with the command included in the data body.

[0104] <Embodiment 2: Protocol Conversion Unit (BD) (0553)> The protocol conversion unit (BD) (0553) is configured to convert the received Ethernet communication signal into a serial communication signal with the slave module (CA) when the discrimination results of the first discrimination unit (BK) and the second discrimination unit (BM) are that the signal is addressed to the slave module (CA), and to convert the serial communication signal received from the slave module (CA) into an Ethernet communication signal as necessary.

[0105] The master module and slave module, and between the slave modules, are connected by a bus transmission path (serial communication path) that is resistant to noise, so the signal from the upper control device (AA) to the slave module needs to be shaped into a data format for serial communication in order to be put on the bus transmission path. The master module processes the data as is within its own device. As mentioned above, the Modbus protocol has become a common protocol for connecting industrial electronic devices. Modbus' electrical specifications are RS-485 serial communication, so it is resistant to noise. The Ethernet communication signal (Modbus / TCP), which is the signal between the upper control device and the master module, and the shaping of the Modbus protocol when sending to the slave module are explained below. Note that even if the first discrimination unit determines that the destination is not a slave module but another recorder or PLC, the signal is shaped in the same way as the signal addressed to the slave module.

[0106] Modbus / TCP can be used as the Ethernet communication signal, and Modbus RTU can be used for serial communication such as RS-485. Figure 12(a) shows a common packet, and as shown in Figure 12(b), a local packet consisting of a "Modbus application header" and a "data body" is obtained from the common packet. Then, as shown in Figure 12(c), the "Modbus application header", which is the header of the local packet, is removed except for the unit ID contained therein. The unit ID is added to the beginning of the data body as an address. If the downstream protocol is Modbus RTU (Remote Terminal Unit) mode, a CRC is added, and if it is Modbus ASCII (American Standard Code Information Interchange) mode, it is converted to ASCII code and an LRC is added.

[0107] Furthermore, as shown in Fig. 12(d), the data is shaped into a serial communication protocol packet used for communication with the slave module, for example, a message frame of the Modbus protocol. The "address" corresponds to the "unit ID" included in the Modbus application header. The function code sets the function that the master module is to execute for the slave module. The "data" stores data related to the function code. The data shaped in this way becomes the shaped data to be transmitted from the master module to the slave module. Note that this example shows the case of the Modbus protocol, but even in the case of other protocols, the header can be removed according to the protocol and the data can be shaped into the data format of the serial communication protocol used for communication with the slave module. To convert the protocol for the response from the slave module to the upper control device, the above steps are reversed.

[0108] <Second embodiment: First bus transmission path selection unit (BN) (0561)> The first bus transmission path selection unit (BN) (0561) is configured to select a bus transmission path that is available at a relatively low speed when the determination result in the first determination unit (BK) is that the signal is destined for the slave module (CA).

[0109] If the port number included in the TCP header of the signal received from the upper control device (AA) is a specified number (e.g. 502) and is destined for the slave module, a relatively slow bus transmission line is selected to be used to output the protocol-converted signal. For example, a relatively slow bus transmission line is used for data that does not require real-time performance, such as parameters for changing settings.

[0110] For example, when there are multiple relatively slow bus transmission paths available, it is possible to configure the system so that a relatively slow bus transmission path is assigned to each specific receiving port number. For example, "502" is assigned to a general-purpose serial communication path (RS-485, etc.), and "55555" is assigned to an internal bus (low speed). It is also possible to configure the system so that a receiving port number other than 502 can be specified as the specific port number. Also, In the case where a plurality of predetermined port numbers are used and a plurality of relatively slow bus transmission paths are provided as described above, for example, the first determination unit may be provided with available bus transmission path corresponding port number holding means 1 for holding the correspondence between each of the predetermined port numbers and available relatively slow bus transmission paths, and the corresponding bus transmission path may be selected by the first bus transmission path selection unit, and communication including the command may be output to the slave module. Alternatively, when there are a plurality of relatively slow bus transmission paths available, the configuration may be such that the command stored in the data body of the received signal is referred to, and a relatively slow bus transmission path is assigned to each command. In that case, the configuration may be such that the bus-command correspondence information holding means 1 for holding bus-command correspondence information, which is information showing the correspondence between the command and the bus transmission path, is provided, and the bus transmission path may be determined by comparing the held command with the command included in the data body.

[0111] <Second embodiment: Second bus transmission path selection unit (BP) (0562)> The second bus transmission path selection unit (BP) (0562) is configured to select a relatively high-speed available bus transmission path (e.g., RS-485) when the discrimination result of the second discrimination unit (BM) is that the destination is the slave module (CA).

[0112] If the port number included in the TCP header of the signal received from the upper control device (AA) is not a specified number and is addressed to the slave module, a relatively high-speed available bus transmission path (such as a high-speed internal bus) is selected to be used in order to output the protocol-converted signal. For example, a relatively high-speed bus transmission path is used to obtain temperature data from each measurement point during heat processing in real time.

[0113] For example, when there are multiple relatively high-speed bus transmission paths available, it is possible to configure the system so that the relatively high-speed bus transmission paths are assigned to multiple receiving port numbers that are not the specified number. It is also possible to configure the system so that 502 is specified as the port number that is not the specified number. You can. In the case where a plurality of receiving port numbers are used as described above and a plurality of relatively high-speed bus transmission paths are provided, for example, the second determination unit may be provided with an available bus transmission path corresponding port number holding means 2 for holding a correspondence between each receiving port number and a relatively high-speed bus transmission path that can be used, and the corresponding bus transmission path may be selected by a second bus transmission path selection unit, and communication including an instruction may be output to a slave module. Alternatively, when there are a plurality of relatively high-speed bus transmission paths that can be used, the system may be configured to refer to an instruction stored in the data body of a received signal, and to assign a relatively high-speed bus transmission path to each instruction. In that case, the system may be configured to provide a bus-instruction correspondence information holding means 2 for holding bus-instruction correspondence information, which is information showing a correspondence between an instruction and a bus transmission path, and to identify the bus transmission path by comparing the held instruction with an instruction included in the data body.

[0114] <Embodiment 2 Bus Transmitter / Receiver (BF) (0555)> The bus transmission / reception unit (BF) (0555) is configured to transmit a serial communication signal converted in accordance with the selection results in the first bus transmission path selection unit (BN) and the second bus transmission path selection unit (BP) to the slave module (CA) via the identified bus transmission path, and to receive a result in accordance with the transmission from the slave module (CA) also via the bus transmission path.

[0115] The protocol-converted signal addressed to the slave module is output through a transmission path according to the selection result. An internal bus, an RS-485 serial bus of Modbus RTU protocol, or the like can be used as the bus for serial communication. The bus transceiver unit (BF) of the master module is configured to be able to execute processing independently of the master module Ethernet transceiver unit (BB) described above. In other words, the processing of the other is not restricted or is limited only very little when either one is transmitting or receiving. "Limitedly little" refers to a case where the utilization efficiency of the hardware resources of the CPU, MPU, and communication-dedicated LSI is limited. However, such a constraint is only generated when a very special condition (for example, a large amount of processing data generated due to an unexpected programming error) is satisfied, and is configured not to occur in general processing.

[0116] In the configuration example of the module system of the present invention shown in Figure 8, in either of the above-described embodiments 1 or 2, communication of inquiry and response of temperature data is performed between the PLC of the higher-level control device 2 (0801b) and the master module (0802) via the Ethernet communication path, and a relatively high-speed internal bus is used between the master module and the slave module, and temperature data of the point in charge of the slave module is sent to the master module as a response. In parallel, communication of change of setting parameters is sent from the PC of the higher-level control device 1 (0801a) to the master module (0802), and if it is addressed to a slave module, it is shaped by the master module and sent to the corresponding slave module. In the module system of the example of the present invention in Figure 8, change of setting parameters can be performed in parallel with temperature data management of heating processing.

[0117] <Embodiment 2 Processing Section (BG) (0556)> The processing unit (BG) (0556) is configured to perform processing directly based on the received Ethernet communication signal when the discrimination results of the first discrimination unit (BK) and the second discrimination unit (BM) are destined for the master module (BA).

[0118] The master module processes signals such as commands to be processed by itself. Examples of commands to the master module include modifying the temperature profile held by the master module and transmitting the modified profile to the slave module, as well as controlling the heater connected to the master module.

[0119] <Embodiment 2 Master Module (BA) (0550)> The master module (BA) (0550) is configured to receive commands from a higher-level control device (AA) connected via an Ethernet communication path and output responses, and is also configured to be connected via a serial communication path, which is a bus transmission path, to one or more slave modules (CA) that are serially connected to other slave modules (CA) and to directly manage them.

[0120] <Embodiment 2 Slave Module (CA) (0570)> The slave module (CA) (0570) is one or more slave modules serially connected to other slave modules (CA) via a bus transmission line, and is configured to have a function of controlling functional components.

[0121] <Processing flow of embodiment 2> Fig. 6 shows the process flow of the module system of the second embodiment. The part on the left surrounded by the dashed line indicates the process flow in the upper control device (AA), and the part on the right surrounded by the dashed line indicates the process flow in the master module (BA). The slave module (CA) at the bottom right, which communicates with the master module (BA) via a serial communication path, is shown. The process within the slave module (CA) is not shown. The process flow of the upper control device (AA) is the same as that of the first embodiment. In the upper control device (AA), First, a process is performed to determine whether the command is to be issued to the master module or to the slave module (SA0601). When the upper control device (AA) sends a command to the master module (BA), The step (ab) (SA0602) of outputting a command to the master module (BA) outputs a command to the master module (BA). When the upper control device (AA) transmits a command to the slave module (CA), the slave module command output step (ad) (SA0603) performs a process of indirectly outputting the command to the slave module (CA) via the master module (BA). The upper control device Ethernet communication step (af) (SA0604) processes Ethernet communication with the master module (BA), The master module response acquisition step (ac) (SA0605) performs a process of acquiring a response from the master module (BA), The slave module response acquisition step (ae) (SA0606) performs processing to indirectly acquire a response from the slave module (CA) via the master module (BA).

[0122] In the master module (BA), The master module Ethernet transmission / reception step (bb) (SB0601) performs processing to receive Ethernet communication signals from the upper control device (AA), The receiving port number acquisition step (bh) (SB0602) performs processing to acquire the receiving port number of the packet composed of the Ethernet communication signal received by the master module Ethernet transmitting / receiving step (bb) (SB0601), A receiving port number determination step (bj) (SB0603) performs a process of determining whether the acquired receiving port number is a predetermined receiving port number, When it is determined that the result of the determination in the receiving port number determination step (bj) (SB0603) is a predetermined port number, a first determination step (bk) (SB0604) performs a process of determining whether the Ethernet communication signal received in the master module Ethernet transmitting / receiving step (bb) is addressed to itself or to a slave module, If it is determined in the receiving port number determination step (bj) (SB0603) that the port number is not a predetermined port number, a second determination step (bm) (SB0605) performs a process of determining whether the Ethernet communication signal received in the master module Ethernet transmitting / receiving step (bb) is addressed to itself or to a slave module, When the determination results in the first determination step (bk) (SB0604) and the second determination step (bm) (SB0605) are that the signal is addressed to a slave module (CA), a protocol conversion step (bd) (SB0606) converts the received Ethernet communication signal into a serial communication signal with the slave module (CA), and converts, as necessary, a serial communication signal received from the slave module (CA) into an Ethernet communication signal; When the determination result in the first determination step (bk) (SB0604) is that the signal is destined for the slave module (CA), a first bus transmission line selection step (bn) (SB0607) performs a process of selecting a bus transmission line that is available at a relatively low speed, When the determination result in the second determination step (bm) (SB0605) is that the signal is destined for the slave module (CA), a second bus transmission line selection step (bp) (SB0608) performs a process of selecting a relatively high-speed bus transmission line that can be used, A bus transmission / reception step (bf) (SB0609) transmits a serial communication signal converted in accordance with the selection results in the first bus transmission path selection step (bn) (SB0607) and the second bus transmission path selection step (bp) (SB0608) to the slave module (CA) via the determined bus transmission path, and receives a result corresponding to the transmission from the slave module (CA) also via the bus transmission path; The protocol conversion step (bd) (SB0610) converts the serial communication signal received from the slave module (CA) into an Ethernet communication signal as necessary, and outputs the converted signal to the master module Ethernet transmission / reception step (bb); If the results of the determination in the first determination step (bk) (SB0604) and the second determination step (bm) (SB0605) indicate that the signal is destined for the master module (BA), the processing step (BG) (SB0611) performs processing based on the received Ethernet communication signal, and outputs the processed result to the master module Ethernet transmission / reception step (bb) as necessary. The master module Ethernet transmission / reception step (bb) (SB0612) performs processing for transmitting an Ethernet communication signal to the upper control device (AA). This is an operating method for causing the module system to execute such a series of processes.

[0123] <Embodiment 2: Hardware>

[0124] An example of the hardware configuration of the upper control device (AA) of the module system of the present embodiment 2 is the same as that of the embodiment 1 (FIG. 3), and therefore a description thereof will be omitted.

[0125] 7 is a conceptual diagram showing an example of the hardware configuration of the master module (BA) of the module system of the present embodiment 2. As shown in the figure, the master module (BA) includes a CPU (0701), a non-volatile memory (0702) (e.g., ROM, SSD, etc.), a main memory (0703), an Ethernet communication I / F (0704) (in FIG. 4, the interface is abbreviated to I / F) for connecting to a control PC, a recorder, etc., and a general-purpose serial communication interface I / F1 for connecting to a control module, etc. (0705) and User I / F (0706) The system is equipped with a bus controller (0709) that controls the communication I / F (0711) with the internal bus (0710), a controller DMAC (0708) that performs DMA (a method of transferring data to and from memory without going through the CPU) during internal bus transmission, and a system bus (0707) for sending and receiving signals between them. A customized dedicated CPU can be used as the CPU, and dedicated firmware can be used instead of an OS (operating system). Also, if the system is configured with a multi-core CPU and / or sufficient cache memory, operational delays due to insufficient memory can be prevented.

[0126] In addition to the OS (operating system) and device drivers, non-volatile memory also contains A master module Ethernet transmission / reception program that transmits and receives Ethernet communication signals to and from higher-level control devices; a reception port number acquisition program for acquiring a reception port number of a packet formed by an Ethernet communication signal received by the master module Ethernet transmission / reception program; a receiving port number determination program for determining whether the acquired receiving port number is a predetermined receiving port number; a first determination program for determining whether an Ethernet communication signal received by the master module Ethernet transmission / reception program is addressed to itself or to a slave module when the reception port number determination program determines that the port number is a predetermined port number; a second determination program for determining whether the Ethernet communication signal received by the master module Ethernet sending / receiving program is addressed to itself or to a slave module when the result of the determination by the receiving port number determination program is not a predetermined port number; a protocol conversion program that converts the received Ethernet communication signal into a serial communication signal with the slave module (CA) when the first discrimination program and the second discrimination program determine that the signal is addressed to the slave module (CA), and converts a serial communication signal received from the slave module (CA) into an Ethernet communication signal as necessary; and a first bus transmission line selection program for selecting a bus transmission line that is available at a relatively low speed when a result of the determination in the first determination program indicates that the bus is destined for a slave module (CA); a second bus transmission path selection program for selecting a bus transmission path that is relatively high speed and available when a result of the determination in the second determination program indicates that the bus is destined for a slave module (CA); a bus transmission / reception program that transmits a serial communication signal converted in accordance with a selection result in the first bus transmission path selection program and the second bus transmission path selection program to the slave module (CA) via a determined bus transmission path, and receives a result in accordance with the transmission from the slave module (CA) via the same bus transmission path; a processing program for directly processing the received Ethernet communication signal when the first and second discrimination programs determine that the signal is addressed to a master module (BA); The converted serial communication signal is transmitted to the slave module (CA) via the serial communication I / F or the internal bus via the bus controller, and the result according to the transmission from the slave module (CA) is received via the serial communication I / F or the bus transmission path. Various programs and specific port numbers are recorded. Then, each program is deployed and executed, and information and data acquired via the interface are stored in the non-volatile memory, and the stored information and data are processed by executing the program in the work area of ​​the main memory, and the information and data are retained in the non-volatile memory, or output to the upper control device (AA) by executing the program via the Ethernet communication interface. <Effects of the Second Embodiment>

[0127] When transmitting a signal from a higher-level control device to a slave module via a master module, the master module selects an appropriate bus transmission path by referring to the port number included in the header of the received signal, and then determines whether the signal is addressed to the master module itself or to the slave module.If the signal is addressed to the master module, it is processed as is, and if it is addressed to the slave module, the data format is reformatted and output to the slave module, thereby eliminating the need to determine the contents (commands) of the received signal, and by receiving signals on different port numbers, the master module can receive signals in parallel and deliver them to the slave module or process them itself. [Explanation of symbols]

[0128] 0100 Upper control device (AA) 0101 Command output section for master module (AB) 0102 Master module response acquisition unit (AC) 0103 Command output section for slave module (AD) 0104 Slave module response acquisition unit (AE) 0105 Upper control device Ethernet communication part (AF) 0150 Master Module (BA) 0151 Master module Ethernet transceiver (BB) 0152 Discrimination part (BC) 0153 Protocol Conversion Unit (BD) 0154 Transmission line usage discrimination unit (BE) 0155 Bus Transmitter / Receiver (BF) 0156 Processing section (BG) 0170 Slave module (CA)

Claims

1. Upper control device (AA) and One master module (BA) connected to the host control device (AA) via an Ethernet communication path, which receives commands from the host control device (AA) and outputs responses to the host control device (AA); one or more slave modules (CA) connected to a master module (BA) via serial communication paths, which are multiple types of bus transmission paths available at different transmission speeds, and managed and operated by the master module (BA) with various physical quantity setting values ​​and various control parameters when executing a function to be described later, each having a functional part control function for realizing one or more functions, and serially connected to each other via the multiple types of bus transmission paths; A modular system comprising: The upper control device (AA) is a master module command output unit (AB) for outputting a command to the master module (BA); a master module response acquisition unit (AC) for acquiring a response from the master module (BA); a slave module command output unit (AD) for indirectly outputting a command to the slave module (CA) via the master module (BA); a slave module response acquisition unit (AE) for indirectly acquiring a response from the slave module (CA) via the master module (BA); The device has a master module (BA) and an upper control device Ethernet communication unit (AF) for performing Ethernet communication with the master module (BA), The master module (BA) is A master module Ethernet transceiver unit (BB) for transmitting and receiving Ethernet communication signals to and from an upper control device (AA); A discrimination section (BC) that determines whether the Ethernet communication signal received by the master module Ethernet transceiver section (BB) is addressed to itself or to a slave module. a protocol conversion unit (BD) that converts the received Ethernet communication signal into a serial communication signal with the slave module (CA) when the discrimination result by the discrimination unit (BC) indicates that the signal is addressed to the slave module (CA), and converts a serial communication signal received from the slave module (CA) into an Ethernet communication signal as necessary; a utilization transmission line discrimination rule storage unit that stores utilization transmission line discrimination rules that are rules used to discriminate utilization transmission lines; a transmission line utilization discrimination unit (BE) for discriminating whether the signal is of a type that should utilize a bus transmission line that is available at a relatively high speed or a bus transmission line that is available at a relatively low speed when the discrimination result of the discrimination unit (BC) is destined for a slave module (CA) based on one or more of a protocol packet header for the transmission line utilization, a signal attribute, a transmission line type identifier, a congestion state of each transmission line, an amount of signals to be transmitted, an equipment management number or type of the slave module, a transmission line type associated with a destination port number of an Ethernet process of a master module specified in an Ethernet packet, and a transmission line utilization discrimination rule; a bus transmission / reception unit (BF) that transmits a serial communication signal converted according to the discrimination result in the transmission path discrimination unit (BE) to the slave module (CA) via the identified bus transmission path, and receives a result according to the transmission from the slave module (CA) via the same bus transmission path; If the discrimination result in the discrimination unit (BC) is that the packet is addressed to the master module (BA), A processing unit (BG) that performs processing based on the received Ethernet communication signal; A module system having

2. Upper control device (AA) and One master module (BA) connected to the host control device (AA) via an Ethernet communication path, which receives commands from the host control device (AA) and outputs responses to the host control device (AA); A method for operating a module system which is a computer, comprising: a master module (BA) connected to the master module (BA) via serial communication paths which are multiple types of bus transmission paths available at different transmission speeds; a module which is managed and operated by the master module (BA) with various physical quantity setting values ​​when executing a function described below and various control parameters when executing the function; a functional part control function which realizes one or more functions; and one or more slave modules (CA) which are serially connected to each other via the multiple types of bus transmission paths, The operation method of the upper control device (AA), which is a computer, is as follows: a step (ab) of outputting a command to a master module (BA); a step (ac) of acquiring a response from the master module (BA); a slave module command output step (ad) for indirectly outputting a command to the slave module (CA) via the master module (BA); a slave module response acquisition step (ae) of indirectly acquiring a response from the slave module (CA) via the master module (BA); A master module (BA) and an upper control device Ethernet communication step (af) for performing Ethernet communication with the master module (BA), The operation of the Master Module (BA), which is a computer, is as follows: A master module Ethernet transmission / reception step (bb) for transmitting and receiving Ethernet communication signals to and from an upper control device (AA); A master module Ethernet transmission / reception step (bb) determines whether the received signal is addressed to itself or to a slave module (bc); a protocol conversion step (bd) of converting the received Ethernet communication signal into a serial communication signal with the slave module (CA) when the determination result in the determination step (bc) indicates that the signal is addressed to the slave module (CA), and converting, as necessary, a serial communication signal received from the slave module (CA) into an Ethernet communication signal; a utilization transmission line discrimination rule storage step for storing a utilization transmission line discrimination rule which is a rule used for discriminating a utilization transmission line; a transmission line usage discrimination step (be) for discriminating whether the signal is of a type that should utilize a bus transmission line that is available at a relatively high speed or a bus transmission line that is available at a relatively low speed when the discrimination result in the discrimination step (bc) indicates that the signal is destined for a slave module (CA) based on one or more of a protocol packet header for the transmission line usage, a signal attribute, a transmission line type identifier, a congestion state of each transmission line, an amount of signals to be transmitted, an equipment management number or type of the slave module, a transmission line type associated with a destination port number of the Ethernet processing of the master module specified in the Ethernet packet, and a transmission line usage discrimination rule; a bus transmission / reception step (bf) of transmitting a serial communication signal converted according to the result of the determination in the transmission path determination step (be) to the slave module (CA) via the determined bus transmission path, and receiving a result according to the transmission from the slave module (CA) also via the bus transmission path; If the determination result in the determination step (bc) is addressed to the master module (BA), A processing step (BG) that performs processing based on the received Ethernet communication signal; A method of operating a module system that is a computer having the above-mentioned components.

3. Upper control device (AA) and One master module (BA) connected to the host control device (AA) via an Ethernet communication path, which receives commands from the host control device (AA) and outputs responses to the host control device (AA); one or more slave modules (CA) connected to a master module (BA) via serial communication paths, which are multiple types of bus transmission paths available at different transmission speeds, and managed and operated by the master module (BA) with various physical quantity setting values ​​and various control parameters when executing a function to be described later, each having a functional part control function for realizing one or more functions, and serially connected to each other via the multiple types of bus transmission paths; An operating program that can be loaded into a module system that is a computer comprising: The operating program that can be loaded into the upper control device (AA), which is a computer, is a step (ab) of outputting a command to a master module (BA); a step (ac) of acquiring a response from the master module (BA); a slave module command output step (ad) for outputting a command to the slave module (CA); a slave module response acquisition step (ae) of acquiring a response from the slave module (CA); A master module (BA) and an upper control device Ethernet communication step (af) for performing Ethernet communication with the master module (BA), The operating program that can be loaded into the master module (BA), which is a computer, is A master module Ethernet transmission / reception step (bb) for transmitting and receiving Ethernet communication signals to and from an upper control device (AA); A master module Ethernet transmission / reception step (bb) determines whether the received signal is addressed to itself or to a slave module (bc); a protocol conversion step (bd) of converting the received Ethernet communication signal into a serial communication signal with the slave module (CA) when the determination result in the determination step (bc) indicates that the signal is addressed to the slave module (CA), and converting, as necessary, a serial communication signal received from the slave module (CA) into an Ethernet communication signal; a utilization transmission line discrimination rule storage step for storing a utilization transmission line discrimination rule which is a rule used for discriminating a utilization transmission line; a transmission line usage discrimination step (be) for discriminating whether the signal is of a type that should utilize a bus transmission line that is available at a relatively high speed or a bus transmission line that is available at a relatively low speed when the discrimination result in the discrimination step (bc) indicates that the signal is destined for a slave module (CA) based on one or more of a protocol packet header for the transmission line usage, a signal attribute, a transmission line type identifier, a congestion state of each transmission line, an amount of signals to be transmitted, an equipment management number or type of the slave module, a transmission line type associated with a destination port number of the Ethernet processing of the master module specified in the Ethernet packet, and a transmission line usage discrimination rule; a bus transmission / reception step (bf) of transmitting a serial communication signal converted according to the result of the determination in the transmission path determination step (be) to the slave module (CA) via the determined bus transmission path, and receiving a result according to the transmission from the slave module (CA) also via the bus transmission path; If the determination result in the determination step (bc) is addressed to the master module (BA), A processing step (BG) that performs processing based on the received Ethernet communication signal; A program that can be loaded into a module system, which is a computer having the above-mentioned configuration.

4. Upper control device (AA) and One master module (BA) connected to the host control device (AA) via an Ethernet communication path, which receives commands from the host control device (AA) and outputs responses to the host control device (AA); A module system comprising one or more slave modules (CA) connected to a master module (BA) via serial communication paths which are multiple types of bus transmission paths available at different transmission speeds, and managed and operated by the master module (BA) with various physical quantity setting values ​​and various control parameters for executing the functions described below, the modules having a functional part control function for realizing one or more functions, and serially connected to each other via the multiple types of bus transmission paths, The upper control device (AA) is a master module command output unit (AB) for outputting a command to the master module (BA); a master module response acquisition unit (AC) for acquiring a response from the master module (BA); a slave module command output unit (AD) for indirectly outputting a command to the slave module (CA) via the master module (BA); a slave module response acquisition unit (AE) for indirectly acquiring a response from the slave module (CA) via the master module (BA); The device has a master module (BA) and an upper control device Ethernet communication unit (AF) for performing Ethernet communication with the master module (BA), The master module (BA) is A master module Ethernet transceiver unit (BB) for transmitting and receiving Ethernet communication signals to and from an upper control device (AA); a receiving port number acquisition unit (BH) for acquiring a receiving port number, which is a destination port number included in a TCP header of a packet formed by an Ethernet communication signal received by a master module Ethernet transmitting / receiving unit (BB); a receiving port number determination unit (BJ) for determining whether the acquired receiving port number is a predetermined receiving port number; a first discrimination unit (BK) that discriminates whether the Ethernet communication signal received by the master module Ethernet transmission / reception unit (BB) is addressed to itself or to a slave module when the result of the judgment by the reception port number judgment unit (BJ) is determined to be a predetermined port number; a second discrimination unit (BM) that discriminates whether the Ethernet communication signal received by the master module Ethernet transmission / reception unit (BB) is addressed to itself or to a slave module when the result of the judgment by the reception port number judgment unit (BH) is not the specified port number; a protocol conversion unit (BD) that converts the received Ethernet communication signal into a serial communication signal with the slave module (CA) when the discrimination result by the first discrimination unit (BK) and the second discrimination unit (BM) indicates that the signal is addressed to the slave module (CA), and converts a serial communication signal received from the slave module (CA) into an Ethernet communication signal as necessary; a first bus transmission line selection unit (BN) for selecting a bus transmission line available at a relatively low speed when the determination result in the first determination unit (BK) is that the bus is destined for a slave module (CA); a second bus transmission path selection unit (BP) for selecting a bus transmission path that is relatively high speed and available when the determination result of the second determination unit (BM) is that the bus is destined for a slave module (CA); a bus transmission / reception unit (BF) that transmits a serial communication signal converted according to the selection results in the first bus transmission path selection unit (BN) and the second bus transmission path selection unit (BP) to the slave module (CA) via a determined bus transmission path, and receives a result according to the transmission from the slave module (CA) via the same bus transmission path; When the discrimination results of the first discrimination unit (BK) and the second discrimination unit (BM) are for the master module (BA), A processing unit (BG) that performs processing based on the received Ethernet communication signal; A module system having

5. Upper control device (AA) and One master module (BA) connected to the host control device (AA) via an Ethernet communication path, which receives commands from the host control device (AA) and outputs responses to the host control device (AA); A method for operating a module system which is a computer, comprising: a master module (BA) connected to the master module (BA) via serial communication paths which are multiple types of bus transmission paths available at different transmission speeds; a module which is managed and operated by the master module (BA) with various physical quantity setting values ​​when executing a function described below and various control parameters when executing the function; a functional part control function which realizes one or more functions; and one or more slave modules (CA) which are serially connected to each other via the multiple types of bus transmission paths, The operation method of the upper control device (AA), which is a computer, is as follows: a step (ab) of outputting a command to a master module (BA); a step (ac) of acquiring a response from the master module (BA); a slave module command output step (ad) for indirectly outputting a command to the slave module (CA) via the master module (BA); a slave module response acquisition step (ae) of indirectly acquiring a response from the slave module (CA) via the master module (BA); A master module (BA) and an upper control device Ethernet communication step (af) for performing Ethernet communication with the master module (BA), The operation of the Master Module (BA), which is a computer, is as follows: A master module Ethernet transmission / reception step (bb) for transmitting and receiving Ethernet communication signals to and from an upper control device (AA); a receiving port number acquisition step (bh) for acquiring a receiving port number, which is a destination port number included in a TCP header of a packet formed by an Ethernet communication signal received by the master module Ethernet transmitting / receiving step (bb); a receiving port number determination step (bj) of determining whether the acquired receiving port number is a predetermined receiving port number; a first determination step (bk) of determining whether the Ethernet communication signal received by the master module Ethernet transmission / reception step (bb) is addressed to itself or to a slave module when the determination result in the reception port number determination step (bj) is determined to be a predetermined port number; a second determination step (bm) of determining whether the Ethernet communication signal received by the master module Ethernet transmission / reception step (bb) is addressed to itself or to a slave module when the determination result in the reception port number determination step (bj) is determined to be not a predetermined port number; a protocol conversion step (bd) of converting the received Ethernet communication signal into a serial communication signal with the slave module (CA) when the determination results in the first determination step (bk) and the second determination step (bm) indicate that the signal is addressed to the slave module (CA), and converting, as necessary, a serial communication signal received from the slave module (CA) into an Ethernet communication signal; a first bus transmission line selection step (bn) of selecting a bus transmission line available at a relatively low speed when the determination result in the first determination step (bk) is that the bus is destined for a slave module (CA); a second bus transmission line selection step (bp) for selecting a relatively high-speed available bus transmission line when the determination result in the second determination step (bm) is that the signal is destined for a slave module (CA); a bus transmission / reception step (bf) of transmitting a serial communication signal converted according to the selection results in the first bus transmission path selection step (bn) and the second bus transmission path selection step (bp) to the slave module (CA) via the determined bus transmission path, and receiving a result according to the transmission from the slave module (CA) also via the bus transmission path; When the discrimination results in the first discrimination step (bk) and the second discrimination step (bm) are for the master module (BA), a processing step (bg) of directly processing the received Ethernet communication signal; A method of operating a module system that is a computer having the above-mentioned components.

6. Upper control device (AA) and One master module (BA) connected to the host control device (AA) via an Ethernet communication path, which receives commands from the host control device (AA) and outputs responses to the host control device (AA); An operation program readable by a module system, which is a computer, comprising one or more slave modules (CA) connected to a master module (BA) via serial communication paths which are multiple types of bus transmission paths available at different transmission speeds, and managed and operated by the master module (BA) with various physical quantity setting values ​​when executing a function described below and various control parameters when executing the function, the operation program having a functional part control function for realizing one or more functions and serially connected to each other via the multiple types of bus transmission paths, The program that can be read and operated by the upper control device (AA), which is a computer, is a step (ab) of outputting a command to a master module (BA); a step (ac) of acquiring a response from the master module (BA); a slave module command output step (ad) for indirectly outputting a command to the slave module (CA) via the master module (BA); a slave module response acquisition step (ae) of indirectly acquiring a response from the slave module (CA) via the master module (BA); A master module (BA) and an upper control device Ethernet communication step (af) for performing Ethernet communication with the master module (BA), The program that can be read and operated by the master module (BA), which is a computer, is A master module Ethernet transmission / reception step (bb) for transmitting and receiving Ethernet communication signals to and from an upper control device (AA); a receiving port number acquisition step (bh) for acquiring a receiving port number, which is a destination port number included in a TCP header of a packet formed by an Ethernet communication signal received by the master module Ethernet transmitting / receiving step (bb); a receiving port number determination step (bj) of determining whether the acquired receiving port number is a predetermined receiving port number; a first determination step (bk) of determining whether the Ethernet communication signal received by the master module Ethernet transmission / reception step (bb) is addressed to itself or to a slave module when the determination result in the reception port number determination step (bj) is determined to be a predetermined port number; a second determination step (bm) of determining whether the Ethernet communication signal received by the master module Ethernet transmission / reception step (bb) is addressed to itself or to a slave module when the determination result in the reception port number determination step (bj) is determined to be not a predetermined port number; a protocol conversion step (bd) of converting the received Ethernet communication signal into a serial communication signal with the slave module (CA) when the determination results in the first determination step (bk) and the second determination step (bm) indicate that the signal is addressed to the slave module (CA), and converting, as necessary, a serial communication signal received from the slave module (CA) into an Ethernet communication signal; a first bus transmission line selection step (bn) of selecting a bus transmission line available at a relatively low speed when the determination result in the first determination step (bk) is that the bus is destined for a slave module (CA); a second bus transmission line selection step (bp) for selecting a relatively high-speed available bus transmission line when the determination result in the second determination step (bm) is that the signal is destined for a slave module (CA); a bus transmission / reception step (bf) of transmitting a serial communication signal converted according to the selection results in the first bus transmission path selection step (bn) and the second bus transmission path selection step (bp) to the slave module (CA) via the determined bus transmission path, and receiving a result according to the transmission from the slave module (CA) also via the bus transmission path; When the discrimination results in the first discrimination step (bk) and the second discrimination step (bm) are for the master module (BA), a processing step (bg) of directly processing the received Ethernet communication signal; A program that can be read and operated by a module system that is a computer having the above-mentioned configuration.

Images