WO2005036288A1 - シリアル通信による制御システム - Google Patents
シリアル通信による制御システム Download PDFInfo
- Publication number
- WO2005036288A1 WO2005036288A1 PCT/JP2003/013007 JP0313007W WO2005036288A1 WO 2005036288 A1 WO2005036288 A1 WO 2005036288A1 JP 0313007 W JP0313007 W JP 0313007W WO 2005036288 A1 WO2005036288 A1 WO 2005036288A1
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- WO
- WIPO (PCT)
- Prior art keywords
- frame
- data
- emergency stop
- control device
- client
- Prior art date
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Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0428—Safety, monitoring
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24003—Emergency stop
Definitions
- the present invention relates to a serial communication control system for controlling a motor or the like for driving a machine tool or an industrial robot. This is related to the technology for transmitting stop information.
- FIG. 11 is a configuration diagram of a conventional NC device system. 2 is an input / output connector for transmitting and receiving control commands such as position and speed from the NC device and data from the drive control device, and 3 is between the NC device and the drive control device or between the drive control devices.
- the command from the NC device is output from the input / output connector 2 and transmitted to each drive control device via the communication cable 3 and the input / output connector 5.
- Each drive control device that has received the command controls the drive of the motor by the motor control unit 10 based on the information. And that The feed pack data and the like from the motor at that time are taken in again from the motor control unit 10 via the communication cable 3 and the input / output connector 5 and from the input / output connector 2 to the NC unit. !
- the emergency stop signal line is used to control the control data from the viewpoint of fail-safe, in which if an emergency stop signal is generated and the signal is interrupted at any position in the transmission circuit, it is determined that an emergency stop has been commanded.
- a dedicated emergency stop signal transmission / reception cable independent of communication cable 3 was provided. 1 is an emergency stop switch used for emergency stop.This external emergency stop signal is taken into the NC unit by the receiver 8 mounted on the NC unit, and the emergency stop signal transmission / reception cable is installed by the driver 9. Output to the drive control device via 4.
- each drive control device receives an emergency stop signal by the receiver 6 and outputs emergency stop data to the next drive control device by the dryno 7.
- Emergency stop signals must be protected from malfunction because reliability is paramount.
- the emergency stop signal transmission / reception cable 4 between the NC and the drive control device, and the drive control device 4 It uses much higher voltage levels than the control signals used within. Similarly, transmission and reception of signals as differential signals may be performed in order to prevent malfunction. As a result, the emergency stop signal cannot be processed by the motor control section due to such differences in voltage level and data format, and the electrical level of the data input and output by these receiver 6, driver 7, receiver 8, and driver 9 Conversion, conversion of differential signals, etc.
- the drive control device that receives the emergency stop signal from the NC device by these receivers processes the emergency stop signal in the motor control unit 10, stops the motor promptly, and cuts off the driving power to the motor. Also, each system controlled by the NC unit does not physically interfere like the belt conveyor lines arranged in a row, and even if one system is in an emergency stop, other systems must operate. If you have one type of emergency stop line It is impossible to output from such a driver. Therefore, when the system is divided into multiple systems as shown in Fig.
- the signal pressure level of the signal is adjusted so that the emergency stop signal does not drop out or disappear.
- a signal level converter or the like is required in each drive control device because the level used is higher than that used in the motor control unit and a differential signal is sometimes used.
- the “loop-shaped optical transmission device” is a system in which the master unit always determines a warning action and outputs the warning information output from the slave unit. It has the same drawbacks as the “system”.
- Control method for distributed remote I / O control system CRC is used to monitor frame errors and the number of frames, but these checks are all performed by the master unit.
- CRC is used to monitor frame errors and the number of frames, but these checks are all performed by the master unit.
- DISCLOSURE OF THE INVENTION The present invention is intended to solve the above-described problems, and performs a communication method including emergency stop information in a serial data frame for transmitting and receiving information for control and communication. In this case, the purpose is to further improve the reliability of the emergency stop.
- the present invention provides a control system for performing serial data communication between a host control device and at least one client control device, wherein when an abnormality occurs in the host control device, or when an emergency stop signal is generated. Is input, the emergency stop data is embedded in the serial data communication frame, and every time a serial data communication frame is generated, predetermined frame error check data is embedded in the serial data communication frame.
- Means for outputting to the device, and the client control device Extracting means for extracting emergency stop data and frame error check data in a frame transmitted from the main device, and checking the frame error check data extracted by the extracting means to allow the host control device to operate normally. It is determined whether or not a frame has been generated during the emergency stop.
- a state where the emergency stop data is embedded in a frame of serial data communication a state where the frame has not been generated properly by the host control device is determined.
- each time a serial data communication frame is generated predetermined frame error check data is embedded in a serial data communication frame output by itself, and the host controller Extraction means for extracting emergency stop data and frame error check data in a frame transmitted from the client control apparatus to the host control apparatus; and Checking the frame error check It is determined whether or not the frame has been normally generated by the client control device, and the frame has been normally generated by the client control device in a state where the emergency stop data is embedded in the frame of serial data communication. Means for determining that the client control device is abnormal when the absence state continues for a plurality of frames.
- a control system for performing serial data communication between a host control device and a plurality of client control devices or between a plurality of client control devices
- Emergency stop data is embedded in the serial data communication frame output by itself when the stop signal is input, and a serial data communication frame is generated.
- the frame error check data is embedded in the frame.
- the previously received frame error check data is compared with the currently received frame error check data, and the difference value is determined as described above. If the value differs from the specified value, it is determined that the frame is not generated properly. .
- the present invention also provides a control system for performing serial data communication between a host control device and a plurality of client control devices or between a plurality of client control devices.
- a means is provided for embedding the emergency stop data in a frame output by itself and transmitting the data to another client control device and / or host control device.
- an emergency stop signal can be transmitted from another client control device, and the reliability of the emergency stop can be reduced. The performance is improved.
- the present invention also provides a control system for performing serial data communication between a host control device and a plurality of client control devices or between a plurality of client control devices, wherein an abnormality occurs in the client control device.
- the emergency stop data at the time of occurrence and the emergency stop data generated by another client control device are embedded in the serial data communication frame output by the self-controller, and a predetermined frame error is generated every time the serial data communication frame is generated.
- the check data is embedded in the serial data communication frame output by itself, and is output from the client device Z or another client control device, and transmitted from another client device or host control device.
- Emergency stop data and frame error Extracting means for extracting the check data, and checking whether the frame error check data extracted by the extracting means has successfully generated a frame in another client control device or the host control device. In addition to judging whether or not emergency stop data is embedded in the serial data communication frame, multiple client frames are not normally generated by another client control unit or host control unit. Means for outputting the emergency stop data to a controlled device to be controlled when the time has elapsed.
- the emergency stop data and the transmission data of the position command etc. In the state where the emergency stop data is embedded in the frame of serial data communication, a frame is normally generated by the host control device and / or another client control device. If the status is not continued for more than one frame, it is determined that an error has occurred, so the system does not easily stop in an emergency and the reliability of the emergency stop can be improved.
- the present invention is characterized in that the host control device and / or the client control device have a counter unit for counting the number of received frames, and a means for outputting an emergency stop signal when a prescribed number of frames is not received. is there.
- FIG. 1 is a block diagram showing an emergency stop control system according to Embodiment 1 of the present invention.
- FIG. 2 is a block diagram showing details of a serial data transmission unit in the communication control unit in FIG. ,
- FIG. 3 is a diagram showing transmission timing of serial data according to the first embodiment of the present invention.
- FIG. 4 is a diagram showing a configuration of serial data for one communication frame and a transmission timing thereof according to the first embodiment of the present invention.
- FIG. 5 is a block diagram showing details of a serial data receiving unit in the communication control unit in FIG.
- FIG. 6 is a diagram showing a frame error detection timing according to the first embodiment of the present invention.
- FIG. 7 is a block diagram showing an emergency stop signal output section of the amplifier section according to Embodiment 2 of the present invention.
- FIG. 8 is a diagram showing the evening of the alarm copy function of FIG.
- FIG. 9 is a block diagram showing an emergency stop signal output unit having a frame number mismatch power counter according to Embodiment 3 of the present invention.
- FIG. 10 is a diagram showing a timing chart for comparing the communication timing of FIG. 9 with the number of frames.
- FIG. 11 is a diagram showing a conventional technique. BEST MODE FOR CARRYING OUT THE INVENTION
- FIG. 1 is a block diagram showing an emergency stop control system by serial communication according to Embodiment 1 of the present invention.
- the most important function of the emergency stop function is to ensure that no malfunction or malfunction occurs.Therefore, even in the present invention in which the emergency stop information is transmitted as serial data, the reliability of the data is high. Most important. Therefore, it has a function to check various data. .
- +24 V is applied to the emergency stop signal from the emergency stop switch 100 installed outside the NC device (host device), and the voltage level used inside the NC device ( Generally, it is higher than +5 V), so using the voltage level converter 1.01 makes it possible to convert it into 0 V and 5 V voltage changes and take them into the NC unit.
- the taken-in emergency stop signal is converted into serial data in the communication control unit 102 together with other control data, so that it can be transmitted to the drive control device via the communication connector 103.
- FIG. 2 shows the details of the conversion to the trusted serial data in the communication control unit 102 at this time
- FIG. 3 shows the transmission timing of the data.
- a start flag generation unit 107 that generates a start flag required to start a reception sequence at the time of reception, a position command, a speed command, and others
- Transmission data generator 108 that generates transmission data that summarizes data such as communications.Emergency stop data generator 109 that generates emergency stop data input to the NC unit via the receiver 101.Normal transmission frame.
- the set value is added to the frame error check counter area in the transmission frame each time the set value is added.
- the frame error check counter generator 110 generates an end flag that indicates the end of data transmission. Part 111 is included.
- the frame error shown here is not an error that occurs due to the loss of serial data due to the effects of noise or the like during communication. No frame is generated, and at the same time, the value set in the count value of the frame error check counter is not correctly added, indicating that the data in the generated frame is unreliable in the evening. .
- Fig. 3 shows the communication timing at that time.
- the upper part shows the communication timing
- the lower part shows the frame check counter to which a specified number (in this case, X) is added at each control timing in the frame error check counter generation unit 110.
- X specified number
- the value of the frame error check count is not a value obtained by adding the specified number X to the previous value. , which is an appropriate value.
- the communication timing is normal, it is 4x at the communication timing 142 and 5x at the communication timing 143. 1 indicates that the value of the frame error check counter is 0 at the communication timing 142.
- These data including the start flag are configured by the transmission sequence control unit 112 as parallel data.
- data is transmitted and received as serial data. Therefore, the parallel data is converted to serial data by the parallel-serial converter 113 and transmitted from the NC device via the transmission connector 103.
- Sent As described above, by transmitting a signal from the NC device as serial data including the emergency stop signal, the emergency stop signal can be transmitted as data by data communication. In other words, since an emergency stop can be performed only with the communication line, a dedicated line for the emergency stop is not required.
- FIG. 4 shows the configuration of the serial data for one communication frame output from the transmission connector 103 and its transmission timing.
- the transmitted serial data has a start flag 115, transmission data 116, emergency stop data 117, frame error check count 118, and end flag 119, and the communication flag 120 becomes H (pos itive).
- serial communication is started and a serial data frame is transmitted to the drive control device.
- emergency stop information ' is included in the serial data, emergency stop control by data communication becomes possible.
- the communication control unit receives the serial data transmitted from the NC device side transmission connector 103 of FIG. 1 at the amplifier side reception connector 104, and communicates with the communication control unit via the serial data reception driver 105.
- the serial data is input to 106 and reception processing is performed.
- FIG. 5 shows the processing of the data received by the communication control unit 106 at this time. Since data processing in the communication control unit 106 cannot be performed with the received serial data as it is, the serial-to-parallel converter 122 converts the serial data from the NC unit into parallel data. Can be converted and used in the amplifier side communication control unit 106 It becomes.
- the start flag extracting section 121 extracts a start flag from the serial data.
- the reception sequence control unit 123 converts the parallel data converted from the serial data by the serial-parallel converter 122 into a reception data extraction unit 124, an emergency stop data overnight extraction unit 125, The data is sequentially separated, extracted, and transmitted to the frame error check counter extraction unit 126 and the end flag data extraction unit 127 in order.
- the data such as commands and communication extracted by the reception data extraction unit 124 is sent to the motor control unit 114 and used for actual control.
- the end flag extraction unit 127 transmits the end flag to the reception sequence control unit 123 and the frame error detection unit 129.
- the reception sequence control unit 123 that has received the end flag from the end flag extraction unit 127 ends the reception sequence processing.
- the frame error detection unit 129 which has received the end flag data, checks the frame error generated by the frame error check counter generation unit 110 to confirm the reliability of the reception data. (1) The value of the check counter is compared with the previous value to judge whether data is generated correctly. FIG. 6 shows the detection timing of this frame error.
- this difference value matches the value 0 added by the frame error check counter generation unit 110, there is no abnormality in the data generation process, it is determined that the processing has been completed normally, and the received frame Is determined to be normal data, and the output from the frame error detection unit 129 to the logic circuit 128 is set to L (negative).
- the frame error detector 129 outputs the result of the frame reliability determination to the logical operation circuit 128.
- the signal from the frame error detector 129 and the emergency stop signal from the emergency stop data extraction unit 125 are logically ORed by the logical operation unit 128, so that the received data is normal and the data from the emergency stop data extraction unit is obtained. If emergency stop information is included, an emergency stop signal can be output, and unnecessary emergency stop can be avoided. However, if a frame error is detected multiple times consecutively (three consecutive times of n + 3, n + 4, and n + 5 in Fig.
- the frame error detection unit 129 outputs the determination result of H (positive) also to the logical operation circuit 130.
- the logical operation circuit 130 detects an emergency stop signal from the logical operation circuit 128 or H (positive) data from the frame error detection unit 129, the logical operation circuit 130 can output an emergency stop signal. It also has a function to output an emergency stop signal even if it has not been generated correctly several times, improving the reliability of emergency stop.
- the emergency stop signal is input to the NC device and the emergency stop data is embedded in the frame has been described.
- the emergency stop data is transmitted to the frame. May be embedded.
- the one shown in FIG. 2 is provided in the NC device, and the one shown in FIG. 5 is provided in the drive control device.
- the emergency stop data is embedded in the frame when an abnormality occurs inside the drive control device by installing the control device in the drive control device and the device shown in Fig. 5 on the NC device side.
- the abnormality may be detected on the NC device side by transmitting the error to the NC device.
- the one shown in FIG. 2 is provided in the NC device, and the one shown in FIG. 5 is provided in the drive control device.
- the configuration shown in Fig. 5 (the detailed configuration is substantially the same as that shown in Fig. 7), the emergency stop data is embedded in the frame when an abnormality occurs inside the drive control unit. By transmitting it to the NC unit or other drive control unit, the NC unit or other drive control unit may detect the emergency stop data abnormality.
- Example 2 the NC unit or other drive control unit may detect the emergency stop data abnormality.
- FIG. Fig. 7 shows that when each axis receives the emergency stop signal transmitted by the other axis, the emergency stop signal output by the other axis is attached to the frame of serial data output by itself (copy FIG. 7 is a block diagram for transmission.
- AMPK AP2 and AMP3 are connected. Since the same number of communication frames as the number of connection axes are transmitted to the serial data receiving unit 212, the serial data receiving unit 212 copies all of them and takes them into the communication control unit.
- the receiving unit in the communication control unit 106 performs reception sequence processing on all transmitted frames, but for data unrelated to its own frame, even if the end flag is extracted, it is ignored. Only data relating to itself is captured in the receive buffer. However, even if it has nothing to do with its own frame, if an emergency stop signal is detected in the extracted data and no frame error is detected at the same time, only the emergency stop signal information is logically operated. It is held in the circuit 207. If the emergency stop signal is held in the logical operation circuit 207 when the reception sequence of all frames is completed, the communication of FIG. 1 is performed via the logical operation circuit 215 and the motor control unit emergency stop input line 210. It is transmitted to the motor control unit 114 below the control unit 106.
- the motor control unit 114 Upon receiving the emergency stop signal, the motor control unit 114 stops supplying power to the motor and outputs a command to decelerate and stop the motor. Then, the motor control unit 114 outputs an emergency stop signal indicating that the motor control unit 114 is in an emergency stop state to the communication control unit from the emergency control unit emergency stop output line 211.
- the motor control unit emergency stop output line 21 1 is a line for transmitting information indicating that the motor itself is in an emergency stop state. Since the emergency stop signal adding unit 209 has a function of holding the emergency stop signal transmitted from the logical operation circuit 215, the emergency stop signal output from the emergency stop signal input 211 is added (copied). And output an emergency stop signal.
- the emergency stop signal output from the emergency stop signal adder 209 is sent to the emergency stop data generation unit 209 of the transmission unit, and an emergency stop signal is generated in the serial data transmission unit including the emergency stop information. Then, the data is output as serial data to the upper or lower axis via the serial data transmission unit 214 via the serial data transmission driver 145 (see FIG. 1).
- the other operations in the transmitting unit are the same as those in FIG. 2 of the first embodiment, and thus the description is omitted.
- Fig. 8 shows the frame transmission timing and the communication (upstream) from the slave side (amp side) to the master side (NC side) when the amplifier (AMP) is connected to the NC with three axes.
- ALM emergency stop signal
- the emergency stop signal included in frame 216 output by AMP3 is copied to frames 217 and 218 of all axes at the communication timing. Even if the AMP3 that has output the emergency stop signal cannot communicate at the next communication timing due to communication failure, etc., transmit the emergency stop signal by using the emergency stop signal copied to frames 219 and 220. And reliability can be improved. Note that this embodiment can be implemented in combination with the contents described in the first embodiment. Example 3.
- FIG. 9 a third embodiment of the present invention will be described mainly with reference to FIGS. 9 and 10.
- FIG. 9 a third embodiment of the present invention will be described mainly with reference to FIGS. 9 and 10.
- the data receiving unit is reconfigured as shown in FIG. 9 in contrast to the data receiving unit in FIG. 5 of the communication control unit in the first embodiment. That is, as shown in FIG. 9, the logic operation circuits 302 and 309, the frame number counter 303, the communication cycle counter 304, the frame number comparator 305, and the frame number mismatch counter 306 are added to those in FIG.
- the configuration is as follows. For this reason, it is possible to check the number of data frames, and it is possible to make an emergency stop when communication is interrupted, for example, when a connector is disconnected.
- the other parts are the same as in FIG.
- the number of frames here is the total number of serial data frames output from each drive control device connected to the NC at each communication timing.
- the number of frames is “3”, and 3 frames are transmitted and received at each communication timing.
- the data 300 includes frame error information of the received frame output from the frame error detection unit 129, and if a frame error exists, H (pos itive) is output. L (negative) is output. Also, the end flag of the received frame is output as the data 301.
- the logical operation unit 309 performs a logical OR operation on the end flag data 301 and the data output from the start flag, and when it is confirmed that the received frame has been properly processed and completed, the logical operation unit 302 sends an H ( pos it ive) is output. In the logical operation unit 302, the data 300 from the frame error detection unit 129 and the flag from the logical operation unit 309 indicating that the reception processing of the frame has been properly completed.
- the value of the number of frames 303 is counted up when the frame error is L (negative). If three drive controllers with one-axis specification are connected, the reception sequence is executed three times when the processing ends normally, and three start flags and three end flags are output. If no frame error is detected in any of the three frames, H
- the frame number comparison unit 305 uses the communication cycle counter 304 as a trigger and sets a predetermined number of frames (when three drive control devices (single-axis specification) are connected, the number of frames is “3”). The number of frames is compared with the number of counters sent from the counter 303. H if the compared numbers are different
- the frame number comparator 305 outputs an L (negative) signal.
- the frame number mismatch counter 306 determines that there is an abnormality and increases the counter value by one. When the number of counters exceeds the set value, H (positive) data is output to the logical operation circuit 307, and L (negative) data is output if it does not exceed the set value.
- the logic circuit 307 outputs an emergency stop signal if either the frame number mismatch counter 306 or the logic operation circuit 308 is H (positive).
- these circuits (the logical operation circuits 302 and 309, the frame number counter 303, the communication period counter 304, the frame number comparator 305, and the frame number mismatch counter are shown in FIG. 306) enables emergency stop processing by checking the number of data frames.
- FIG. 10 shows the relationship between the communication data configuration at this time and the communication timing.
- the number of communication frames is 2
- the number of comparison frames is 2
- the number of mismatch counters when outputting an emergency stop signal is 2.
- frame 1 is received as received frame 310 Otherwise, only frame 2 could be received, so the number of frames 303 will be 1 at the end of communication timing 381.
- the frame number comparator 305 compares the number of frames with the number of comparison frames. However, since the number of frame counters 303 is 1 and the number of comparison frames is 2, the number of frames does not match, and the number of frames does not match.
- the mismatch counter 306 becomes 1 at the frame number mismatch counter update timing 319.
- both the frame 1 of 311 and the frame 2 of 312 could be received normally, so that the frame number counter 303 becomes 2 at the end of the communication timing 382.
- the frame mismatch counter update timing 320 the frame mismatch counter 306 is cleared, and the counter is counted. The number will be 0. That is, in this embodiment, when the number of frames matches, the mismatch count is cleared, so that unnecessary output of an emergency stop signal can be prevented.
- the frame 1 of 313 cannot be received.
- the number of frames (“1”) is compared with the number of comparison frames (“2”) by the frame number comparator .305, the number of frames does not match.
- the frame mismatch counter 306 becomes 1 at the count mismatch count update timing 321.
- the frame 1 of the replay 314 could not be received.
- the comparison timing 317 the number of frames ("1") and the number of the comparative frames ("2") are compared by the frame number comparator 305. In comparison, the number of frames does not match, and the frame number mismatch counter 306 is incremented by one to 2 at the frame number mismatch counter update timing 322.
- the present invention when the present invention is applied to an NC device system including a control amplifier for controlling a motor of each axis and an NC device for transmitting and receiving commands and communication data to and from the control amplifier.
- a control system in which one master controller integrally controls a plurality of child controllers, for example, a main control device (corresponding to the NC of the NC device system).
- a main control device corresponding to the NC of the NC device system.
- control system using serial communication stores emergency stop information in a frame of normal serial data in order to reduce dedicated lines for emergency stop. It is suitable for use in control systems that integrate control devices.
Abstract
Description
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Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
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PCT/JP2003/013007 WO2005036288A1 (ja) | 2003-10-10 | 2003-10-10 | シリアル通信による制御システム |
CNB2003801105053A CN100451892C (zh) | 2003-10-10 | 2003-10-10 | 利用串行通信的控制系统 |
JP2005509461A JP4525593B2 (ja) | 2003-10-10 | 2003-10-10 | シリアル通信による制御システム |
US10/567,460 US7574277B2 (en) | 2003-10-10 | 2003-10-10 | Control system utilizing serial communication |
DE10394283.1T DE10394283B4 (de) | 2003-10-10 | 2003-10-10 | Steuersystem unter Verwendung einer seriellen Kommunikation |
TW092129409A TWI240526B (en) | 2003-10-10 | 2003-10-23 | Control system with serial communication |
Applications Claiming Priority (1)
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PCT/JP2003/013007 WO2005036288A1 (ja) | 2003-10-10 | 2003-10-10 | シリアル通信による制御システム |
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WO2005036288A1 true WO2005036288A1 (ja) | 2005-04-21 |
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PCT/JP2003/013007 WO2005036288A1 (ja) | 2003-10-10 | 2003-10-10 | シリアル通信による制御システム |
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US (1) | US7574277B2 (ja) |
JP (1) | JP4525593B2 (ja) |
CN (1) | CN100451892C (ja) |
DE (1) | DE10394283B4 (ja) |
TW (1) | TWI240526B (ja) |
WO (1) | WO2005036288A1 (ja) |
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JP2012044103A (ja) * | 2010-08-23 | 2012-03-01 | Fanuc Ltd | レーザ発振器制御装置 |
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JPH02235146A (ja) * | 1989-03-08 | 1990-09-18 | Fuji Xerox Co Ltd | 記録装置のモニタ制御装置 |
JPH11231923A (ja) * | 1998-02-16 | 1999-08-27 | Fanuc Ltd | 数値制御装置 |
JP2002329284A (ja) * | 2001-04-27 | 2002-11-15 | Okuma Corp | センサー装置及び検出データ送信装置 |
EP1288755A1 (en) * | 2000-05-22 | 2003-03-05 | Mitsubishi Denki Kabushiki Kaisha | Numerical control system, and method of establishing communication timing in numerical control system |
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JP2738106B2 (ja) * | 1990-02-06 | 1998-04-08 | 日産自動車株式会社 | 多重通信制御装置 |
JP2687714B2 (ja) * | 1990-10-31 | 1997-12-08 | 日本電気株式会社 | 誤り率劣化検出方法及び回路。 |
JP2947311B2 (ja) | 1992-06-25 | 1999-09-13 | 富士通株式会社 | リング形通信システムにおける子局監視システム |
US5400331A (en) * | 1993-04-28 | 1995-03-21 | Allen-Bradley Company, Inc. | Communication network interface with screeners for incoming messages |
JP3297249B2 (ja) * | 1995-05-26 | 2002-07-02 | 三菱電機株式会社 | 分散型リモートi/o式制御システムの制御方法 |
JP3647955B2 (ja) * | 1996-01-23 | 2005-05-18 | 三菱電機株式会社 | 操作ボード、リモートi/o通信制御方法 |
JP3352359B2 (ja) * | 1997-05-30 | 2002-12-03 | アンリツ株式会社 | 回線品質測定装置 |
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- 2003-10-10 CN CNB2003801105053A patent/CN100451892C/zh not_active Expired - Lifetime
- 2003-10-10 WO PCT/JP2003/013007 patent/WO2005036288A1/ja active Application Filing
- 2003-10-10 JP JP2005509461A patent/JP4525593B2/ja not_active Expired - Lifetime
- 2003-10-10 US US10/567,460 patent/US7574277B2/en active Active
- 2003-10-10 DE DE10394283.1T patent/DE10394283B4/de not_active Expired - Lifetime
- 2003-10-23 TW TW092129409A patent/TWI240526B/zh not_active IP Right Cessation
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JPH02235146A (ja) * | 1989-03-08 | 1990-09-18 | Fuji Xerox Co Ltd | 記録装置のモニタ制御装置 |
JPH11231923A (ja) * | 1998-02-16 | 1999-08-27 | Fanuc Ltd | 数値制御装置 |
EP1288755A1 (en) * | 2000-05-22 | 2003-03-05 | Mitsubishi Denki Kabushiki Kaisha | Numerical control system, and method of establishing communication timing in numerical control system |
JP2002329284A (ja) * | 2001-04-27 | 2002-11-15 | Okuma Corp | センサー装置及び検出データ送信装置 |
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WO2008136110A1 (ja) * | 2007-04-26 | 2008-11-13 | Mitsubishi Electric Corporation | 数値制御装置及び数値制御システム |
US8131396B2 (en) | 2007-04-26 | 2012-03-06 | Mitsubishi Electric Corporation | Numerical control apparatus and numerical control system |
JP2012044103A (ja) * | 2010-08-23 | 2012-03-01 | Fanuc Ltd | レーザ発振器制御装置 |
US8611381B2 (en) | 2010-08-23 | 2013-12-17 | Fanuc Corporation | Laser oscillator control device |
CN110995615A (zh) * | 2019-12-02 | 2020-04-10 | 德阳瑞能电力科技有限公司 | 一种多边主从切换的通讯方法 |
CN110995615B (zh) * | 2019-12-02 | 2023-05-05 | 德阳瑞能电力科技有限公司 | 一种多边主从切换的通讯方法 |
Also Published As
Publication number | Publication date |
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JP4525593B2 (ja) | 2010-08-18 |
JPWO2005036288A1 (ja) | 2006-12-21 |
TW200514395A (en) | 2005-04-16 |
US7574277B2 (en) | 2009-08-11 |
TWI240526B (en) | 2005-09-21 |
CN100451892C (zh) | 2009-01-14 |
DE10394283B4 (de) | 2015-07-09 |
US20060262807A1 (en) | 2006-11-23 |
DE10394283T5 (de) | 2006-06-01 |
CN1839357A (zh) | 2006-09-27 |
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