Excavating
Patent
1990-05-04
1992-11-10
Atkinson, Charles E.
Excavating
370 8515, 371 206, G06F 1110
Patent
active
051630567
DESCRIPTION:
BRIEF SUMMARY
TECHNICAL FIELD
The present invention relates generally to an apparatus for carrying out serial control wherein the apparatus is preferably employed for centrally controlling a number of various sensors and actuators used for various kinds of industrial machines, numerically controlled machines, unmanned conveying vehicles, robots or the like with the aid of a main controller included in a controller for the purpose of controlling the apparatus. More particularly, the present invention relates to an apparatus for carrying out serial control of the type including a plurality of node controllers corresponding to the sensors and the actuators to directly control them. Each of the node controllers is serially connected to the main controller, wherein structure of each node controller favorably employable for monitoring an occurrence of error between the node controllers as well as a protocol for transmitting signals are practically realized.
BACKGROUND ART
FIG. 10 is a block diagram which schematically illustrates the whole structure of the apparatus of the above-described type for carrying out serial control.
In FIG. 10, reference numeral 10 designates a machine controller serving as a controller for totally controlling a certain machine for which the apparatus is arranged. Reference numerals 21 to 2n designate sensors or actuators disposed in predetermined locations in the machine. Reference numeral 30 designates a main controller disposed adjacent to the machine controller 10 to serve as central controlling means for the sensors or actuators 21 to 2n. Reference numerals 41 to 4n designate node controllers disposed in correspondence to the respective sensors or actuators 21 to 2n to intermediately process various data (sensor data or actuator control data) between the node controllers 41 to 4n and the main controller 30, respectively. Usually, with such an apparatus for carrying out serial control as described above, the main controller 30 and the node controllers 41 to 4n are serially connected to each other in a loop-shaped configuration, as shown in FIG. 10.
FIGS. 11a-11c illustrate by way of example a plurality of protocols for transmitting a series of signals S0 to Sn between the main controller 30 and the node controllers 41 to 4n in the apparatus of the present invention.
Specifically, according to this example, each of the signals S0 to Sn includes a data row comprising a row of sensor data indicative of a sensor output from each sensor or a row of control data indicative of the content of control for controlling a manner of driving each actuator, a start code for indicating the head end of the data row, the start code being located upstream of the data row and having a predetermined logical structure represented by plural bits (e.g., eight bits), a stop code for indicating the tail end of the data row, the stop code being disposed downstream of the data row and likewise having a predetermined logical structure (which is different from the logical structure of the start code) represented by plural bits (e.g., eight bits), and an error check code independently generated at each node controller for the purpose of searching for an occurrence of error between respective ports (between respective node controllers), the error check code being disposed downstream of the stop code to be added as a code signal having a predetermined number of bits (e.g., 16 bits). The main controller 30 and the node controllers 41 to 4n are informed of the presence of data (data row) based on detection of the start code and the stop code. In addition, the main controller 30 and the node controllers 41 to 4n are informed of an occurrence of error based on inspection of the error check code (to be conducted in accordance with a CRC checking process, a vertical/horizontal parity checking process or the like process).
With such latter-described apparatus for carrying out serial control, signals are transmitted between the main controller and the node controllers, whereby transmission of data from the main controller to the no
REFERENCES:
patent: 4390984 (1983-06-01), Sugiura et al.
patent: 4577313 (1986-03-01), Sy
Hagiwara Masao
Mimura Tatsuo
Moritoki Masakazu
Atkinson Charles E.
Kabushiki Kaisha Komatsu Seisakusho
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