Gateway device for interconnecting ethercat bus and profinet bus

Abstract

The application discloses a gateway device for interconnecting EtherCAT bus and Profinet bus, and relates to the field of gateway devices.The gateway device comprises an EtherCAT bus device, a bus protocol stack data interaction device and a Profinet bus device, the bus protocol stack data interaction device is in communication connection with the EtherCAT bus device and the Profinet bus device, so that the EtherCAT bus and the Profinet bus, which are incompatible in protocol, can be interconnected, different bus devices can be interconnected, customers can normally communicate without using the same bus protocol device, the customers are not limited by specific manufacturers and specific bus models, and unified bus standards and methods can be used to meet the differentiated configuration requirements of customer bus devices.

Description

Technical Field

[0001] This invention relates to the field of gateway devices, and more particularly to a gateway device that interconnects an EtherCAT bus and a Profinet bus. Background Technology

[0002] Industrial Ethernet fieldbuses have been widely used in the motion control industry in recent years due to their high bandwidth, excellent real-time performance, strong stability, support for multiple topologies, and isochronous synchronization. Examples of applications include bus motion controllers, servo drivers, stepper drivers, gateway conversion modules, remote I / O modules, and sensors.

[0003] In the high-end industrial Ethernet bus technology market, there are two major customer groups. One group consists of manufacturers of EtherCAT bus equipment, represented by Beckhoff, and the other group consists of manufacturers of Profinet bus equipment, represented by Siemens. These two industrial Ethernet equipment giants are continuously developing and expanding their respective bus technologies, producing various bus devices, including bus master and bus slave devices. However, the EtherCAT and Profinet bus protocols are inherently incompatible, especially at the bus application layer protocol level, where they have their own standards and description documents. Customers must use devices with the same bus protocol to communicate properly, thus becoming vendor-locked. In particular, it lacks flexibility in the early stages of solution selection, configuration, and after-sales maintenance. It is easily limited by specific manufacturers and specific bus models. For example, engineers familiar with EtherCAT bus motion controllers may not be familiar with Profinet bus PLCs (Programmable Logic Controllers). Engineers skilled in configuring and programming Profinet bus devices may not be able to use the configuration methods of EtherCAT bus servers. This results in different bus devices being unable to communicate and interconnect, and the differentiated configuration requirements of client bus devices cannot be met using a unified bus standard and usage method. Summary of the Invention

[0004] The present invention aims to provide a gateway device for interconnecting EtherCAT bus and Profinet bus, in order to solve the problem that different bus devices cannot achieve interoperability and that the differentiated configuration requirements of client bus devices cannot be met using a unified bus standard and usage method.

[0005] To address the aforementioned technical problems, this invention provides a gateway device for interconnecting an EtherCAT bus and a Profinet bus. The gateway device includes an EtherCAT bus device, a bus protocol stack data interaction device, and a Profinet bus device. The bus protocol stack data interaction device is communicatively connected to both the EtherCAT bus device and the Profinet bus device, thereby enabling interconnection between the EtherCAT bus and the Profinet bus.

[0006] Optionally, the bus protocol stack data interaction device includes: a storage module, a first Profinet bus communication interface, a first processor, and a first EtherCAT bus communication interface; wherein:

[0007] The first EtherCAT bus communication interface is used for the bus protocol stack data interaction device to communicate with the EtherCAT bus device in a first preset communication mode or a second communication mode.

[0008] The first Profinet bus communication interface is used for the bus protocol stack data interaction device to communicate with the Profinet bus device in a third preset communication mode;

[0009] The first processor is used to implement protocol stack data interaction between the EtherCAT bus device and the Profinet bus device;

[0010] The storage module is used to save the parameter data configured by the host computer. The parameter data can also be saved when the bus protocol stack data interaction device loses power.

[0011] Optionally, the Profinet bus device includes a second Profinet bus communication interface, a second processor, a Flash module, and an SDRAM module; wherein:

[0012] The second Profinet bus communication interface is used for the Profinet bus device to communicate with the bus protocol stack data interaction device in a third preset communication mode;

[0013] The second processor is used for data interaction between the Profinet bus device and the bus protocol stack data interaction device;

[0014] The Flash module is used to store the operating system of the Profinet bus device, and the SDRAM module is used to read and write SDRAM data.

[0015] Optionally, the Profinet bus device has a built-in first Ethernet network chip;

[0016] The gateway device further includes a first network interface, a second network interface, a first network isolation transformer, and a second network isolation transformer. The first network isolation transformer is connected to the first Ethernet network chip and the first network interface, respectively, and the second network isolation transformer is connected to the first Ethernet network chip and the second network interface, respectively.

[0017] Optionally, in slave mode, the EtherCAT bus device is an EtherCAT bus slave chip, and the EtherCAT bus slave chip communicates with the bus protocol stack data interaction device using a first preset communication method to realize data communication between the EtherCAT bus slave chip and the bus protocol stack data interaction device.

[0018] Optionally, the gateway device further includes a third network interface, a fourth network interface, a third network isolation transformer, and a fourth network isolation transformer. The third network isolation transformer is connected to the EtherCAT bus slave chip and the third network interface, respectively, and the fourth network isolation transformer is connected to the EtherCAT bus slave chip and the fourth network interface, respectively.

[0019] Optionally, the EtherCAT bus slave chip has a built-in EEPROM module for storing the device description file of the EtherCAT bus slave chip.

[0020] Optionally, in master-slave mode, the EtherCAT bus device is a second Ethernet network chip; the second Ethernet network chip and the bus protocol stack data interaction device communicate using a second preset communication method, and the second Ethernet network chip and the bus protocol stack data interaction device jointly build an EtherCAT bus master based on a simple open-source EtherCAT master station.

[0021] Optionally, the gateway device further includes a fifth network interface and a fifth network isolation transformer, wherein the fifth network isolation transformer is connected to the second Ethernet network chip and the fifth network interface, respectively.

[0022] Optionally, the bus protocol stack data interaction device further includes a host computer communication interface; the gateway device further includes a bus driver chip, which is connected to the host computer communication interface of the bus protocol stack data interaction device, and the bus protocol stack data interaction device interacts with the host computer through the bus driver chip.

[0023] Optionally, the bus protocol stack data interaction device further includes a status indication interface, which is used to output the operating / error status of the gateway device;

[0024] The gateway device also includes several running / error indicator lights, which are connected to the status indication interface of the bus protocol stack data interaction device to indicate the running / error status of the gateway device.

[0025] Optionally, the gateway device further includes a power supply and a clock; the bus protocol stack data interaction device is connected to the power supply and the clock respectively, the EtherCAT bus device is connected to the power supply and the clock respectively, and the Profinet bus device is connected to the power supply and the clock respectively.

[0026] Compared with existing technologies, this invention provides a gateway device for interconnecting EtherCAT and Profinet buses. The gateway device includes an EtherCAT bus device, a bus protocol stack data interaction device, and a Profinet bus device. The bus protocol stack data interaction device is communicatively connected to both the EtherCAT and Profinet bus devices, enabling interconnection between them. This allows interconnection between EtherCAT and Profinet buses, two protocols that are inherently incompatible. It enables interoperability between different bus devices, and customers do not need to use devices with the same bus protocol to communicate normally. It is less restricted by devices from specific manufacturers or bus models, and allows the use of a unified bus standard and usage method to meet the differentiated configuration requirements of client bus devices. This solves the current problems of incompatibility between different bus devices and the inability to use a unified bus standard and usage method to meet the differentiated configuration requirements of client bus devices. Attached Figure Description

[0027] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0028] Figure 1 This is a schematic diagram of the structure of a gateway device interconnecting an EtherCAT bus and a Profinet bus, provided in an embodiment of the present invention.

[0029] Figure 2 This is a schematic diagram of the bus protocol stack data interaction device in a gateway device that interconnects EtherCAT bus and Profinet bus according to an embodiment of the present invention;

[0030] Figure 3This is a schematic diagram of the Profinet bus device in a gateway device that interconnects EtherCAT bus and Profinet bus according to an embodiment of the present invention;

[0031] Figure 4 This is a first structural schematic diagram of an EtherCAT bus device in a gateway device interconnecting an EtherCAT bus and a Profinet bus, provided in an embodiment of the present invention.

[0032] Figure 5 This is a second structural schematic diagram of the EtherCAT bus device in a gateway device interconnecting EtherCAT bus and Profinet bus according to an embodiment of the present invention;

[0033] Figure 6 This is a schematic diagram illustrating an application scenario where a gateway device interconnecting an EtherCAT bus and a Profinet bus operates in slave mode, according to an embodiment of the present invention.

[0034] Figure 7 This is a schematic diagram illustrating an application scenario where a gateway device interconnecting an EtherCAT bus and a Profinet bus operates in master-slave mode, according to an embodiment of the present invention.

[0035] Explanation of key component symbols:

[0036] EtherCAT bus device 1, EtherCAT bus slave chip 11

[0037] EEPROM module 113, second Ethernet network chip 12

[0038] Bus protocol stack data interaction device 2 First EtherCAT bus communication interface 21

[0039] First processor 22 First Profinet bus communication interface 23

[0040] Storage module 24 status indicator interface 25

[0041] Host computer communication interface 26 Profinet bus device 3

[0042] Second Profinet bus communication interface 31 Second processor 32

[0043] First Ethernet network chip 33 Second JTAG download port 34

[0044] Flash module 35, SDRAM module 36

[0045] Power supply 4, Clock 5

[0046] First network interface 61 Second network interface 62

[0047] Third network interface 63 Fourth network interface 64

[0048] Fifth network interface 65 First network isolation transformer 71

[0049] Second network isolation transformer 72; Third network isolation transformer 73

[0050] Fourth network isolation transformer 74 Fifth network isolation transformer 75

[0051] Bus driver chip 8 Run / Error indicator 9 Detailed Implementation

[0052] To facilitate understanding of the present invention, a more detailed description is provided below with reference to the accompanying drawings and specific embodiments. It should be noted that when an element is described as being "fixed to" another element, it can be directly on the other element, or one or more intermediate elements may exist between them. When an element is described as being "connected" to another element, it can be directly connected to the other element, or one or more intermediate elements may exist between them. The terms "upper," "lower," "inner," "outer," "bottom," etc., used in this specification indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0053] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0054] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0055] In one embodiment, such as Figure 1As shown in the figure, the present invention provides a gateway device for interconnecting EtherCAT bus and Profinet bus. The gateway device 100 includes: an EtherCAT bus device 1, a bus protocol stack data interaction device 2, and a Profinet bus device 3. The bus protocol stack data interaction device 2 is communicatively connected to the EtherCAT bus device 1 and the Profinet bus device 3 respectively to实现 the interconnection of EtherCAT bus and Profinet bus.

[0056] In this embodiment, by providing a gateway device for interconnecting EtherCAT bus and Profinet bus, the gateway device includes an EtherCAT bus device, a bus protocol stack data interaction device, and a Profinet bus device. The bus protocol stack data interaction device is communicatively connected to the EtherCAT bus device and the Profinet bus device respectively to实现 the interconnection of EtherCAT bus and Profinet bus. Thus, the EtherCAT bus and Profinet bus, which are not compatible with each other in protocol, can be interconnected, enabling different bus devices to communicate with each other. Customers do not need to use bus protocol devices of the same type to communicate normally, and are not easily restricted by specific manufacturers and specific bus models. They can use a unified bus standard and usage method to meet the differentiated configuration requirements of client bus devices. This can solve the problem that different bus devices cannot communicate with each other currently, and cannot use a unified bus standard and usage method to meet the differentiated configuration requirements of client bus devices.

[0057] In the present invention, the working modes of the gateway device 100 include: a slave-slave mode and a master-slave mode; where:

[0058] In the slave-slave mode, the gateway device 100 can实现 the mutual conversion between an EtherCAT bus slave station and a Profinet bus slave station. Specifically, the gateway device 100 can act as a bridge in the EtherCAT bus control system and the Profinet bus control system, directly breaking through the technical barrier of the incompatible bus communication protocols of the above two control systems. The gateway device 100 enables the on-site-level real-time interconnection of the control systems of the above two different buses, and can also实现 the linkage control between control systems in the two control systems.

[0059] In the master-slave mode, the gateway device 100 can实现 the mutual conversion between an EtherCAT bus master station and a Profinet bus slave station. Specifically, the gateway device 100 can实现 the control of the EtherCAT bus slave station device by the Profinet bus control system.

[0060] The gateway device 100 also includes a switch, which is used to switch the working mode of the gateway device, so that the gateway device 100 works in slave mode or master-slave mode.

[0061] EtherCAT is an open architecture, Ethernet-based fieldbus system. The CAT in its name is an abbreviation for Control Automation Technology. EtherCAT is a deterministic industrial Ethernet, originally developed by Beckhoff in Germany. EtherCAT uses the same physical and data link layers. In EtherCAT, both the master and slave stations are nodes in the network. When the master station sends data, only one data frame passes through each node sequentially across the entire network. The master station is the only node allowed to send frames; slave stations can only forward frames. Data frames originate from the master station, pass through each slave station, drop off or carry data for that slave station, and finally return to the master station.

[0062] Profinet bus, launched by PROFIBUS International (PI), is a new generation of automation bus standard based on industrial Ethernet technology. Profinet provides a complete network solution for the field of automation communication, encompassing current hot topics in automation such as real-time Ethernet, motion control, distributed automation, fault tolerance, and network security. Furthermore, as a cross-vendor technology, it is fully compatible with industrial Ethernet and existing fieldbus technologies (such as PROFIBUS).

[0063] In one embodiment, the bus protocol stack data interaction device 2 is communicatively connected to the EtherCAT bus device 1 and the Profinet bus device 3 respectively, realizing the interconnection of the EtherCAT bus and the Profinet bus.

[0064] Specifically, such as Figure 2 As shown, the bus protocol stack data interaction device 2 includes: a first EtherCAT bus communication interface 21, a first processor 22, a first Profinet bus communication interface 23, a storage module 24, and a status indication interface 25; wherein:

[0065] The first EtherCAT bus communication interface 21 is used for communication between the bus protocol stack data interaction device 2 and the EtherCAT bus device 1 using a first preset communication method or a second communication method. Specifically, in slave-slave mode, the first EtherCAT bus communication interface 21 communicates with the EtherCAT bus device 1 using the first preset communication method; in master-slave mode, the first EtherCAT bus communication interface 21 communicates with the EtherCAT bus device 1 using the second preset communication method.

[0066] The first processor 22 is used to implement protocol stack data interaction between the EtherCAT bus device 1 and the Profinet bus device 3.

[0067] The first Profinet bus communication interface 23 is used for the bus protocol stack data interaction device 2 and the Profinet bus device 3 to communicate in a third preset communication mode.

[0068] The storage module 24 is used to save the parameter data configured by the host computer. The parameter data can also be saved when the bus protocol stack data interaction device loses power.

[0069] The status indication interface 25 is used to output the operating / error status of the gateway device.

[0070] Specifically, the status indication interface 25 includes: an EtherCAT bus communication run / error indication (ECAT_RUN / Error) interface, a Profinet bus communication run / error indication (PN_RUN / Error) interface, and an EtherCAT bus and Profinet bus data exchange run / error indication (Exchange_RUN / Error) interface; wherein:

[0071] The EtherCAT bus communication run / error indication interface is used to output the run / error status of the EtherCAT bus protocol stack of the gateway device.

[0072] The Profinet bus communication run / error indication interface is used to output the run / error status of the Profinet bus protocol stack of the gateway device.

[0073] The EtherCAT bus and Profinet bus data exchange interface is used to output the status of gateway data exchange of the gateway device.

[0074] The bus protocol stack data interaction device 2 further includes a host computer communication interface 26, which is used for interaction between the bus protocol stack data interaction device 2 and a host computer. The host computer communication interface 26 includes a USB interface, a serial interface, or a first JTAG (Joint Test Action Group) download port; the USB interface or serial interface is used for interaction between the bus protocol stack data interaction device and the host computer. The first JTAG download port is used by the host computer to download firmware and emulation to the bus protocol stack data interaction device 2.

[0075] The gateway device 100 also includes a power supply 4 and a clock 5; the bus protocol stack data interaction device 2 is connected to the power supply 4 and the clock 5 respectively.

[0076] In an optional embodiment, the bus protocol stack data interaction device 2 is a microcontroller, preferably an ARM-based microcontroller. For example, it could be an STMicroelectronics STM32F407 or STM32H755 microcontroller. In slave-slave mode, the bus protocol stack data interaction device 2 can be an STMicroelectronics STM32F407 microcontroller. In master-slave mode, the bus protocol stack data interaction device 2 can be an STMicroelectronics STM32H755 microcontroller.

[0077] In one embodiment, the Profinet bus device 3 is communicatively connected to the bus protocol stack data interaction device 2 to realize communication interaction with the bus protocol stack data interaction device 2.

[0078] Specifically, such as Figure 3 As shown, the Profinet bus device 3 and the bus protocol stack data interaction device 2 communicate using a third preset communication method to realize data communication, a first synchronization interrupt, and a second synchronization interrupt between the Profinet bus device 3 and the bus protocol stack data interaction device 2. Preferably, the third preset communication method includes FSMC (Flexible Static Memory Controller) communication or SPI (Serial Peripheral Interface) communication.

[0079] The Profinet bus device 3 includes: a second Profinet bus communication interface 31, a second processor 32, a first Ethernet network chip 33, a second JTAG download port 34, a Flash module 35, and an SDRAM module 36; wherein:

[0080] The second Profinet bus communication interface 31 is used for the Profinet bus device 3 to communicate with the bus protocol stack data interaction device 2 in a third preset communication mode.

[0081] The second processor 32 is used for data interaction between the Profinet bus device 3 and the bus protocol stack data interaction device 2.

[0082] The Flash module 35 is used to store the operating system of the Profinet bus device 3, and the SDRAM module 36 is used to read and write SDRAM data. When the Profinet bus device 3 is powered on, it boots the operating system from the Flash module 35 via the SPI interface and reads and writes SDRAM data from the SDRAM module 36 via the FSMC interface. Preferably, the operating system is ECOS (Embedded Configurable Operating System).

[0083] Optionally, the Flash module 35 and / or SDRAM module 36 can also be externally mounted on the Profinet bus device 3. The Flash module 35 is connected to the Profinet bus device 3 via an SPI interface and is used to store the operating system of the Profinet bus device 3. The SDRAM module 36 is connected to the Profinet bus device 3 via an FSMC interface and is used to read and write SDRAM data. When the Profinet bus device 3 is powered on, it boots the operating system from the Flash module 35 via the SPI interface and reads and writes SDRAM data from the SDRAM module 36 via the FSMC interface.

[0084] The gateway device 100 further includes a first network interface 61 and a second network interface 62, which are respectively connected to the Profinet bus device 3. Specifically, the first network interface 61 and the second network interface 62 are respectively connected to the first Ethernet network chip 33 of the Profinet bus device 3, enabling the Profinet bus device 3 to support dual network ports. The first network interface 61 and the second network interface 62 are both RJ45 network ports.

[0085] The gateway device 100 further includes a first network isolation transformer 71 and a second network isolation transformer 72. The first network isolation transformer 71 is connected to the first Ethernet network chip 33 and the first network interface 61 of the Profinet bus device 3, respectively, so that the first Ethernet network chip 33 of the Profinet bus device 3 is connected to the first network interface 61 through the first network isolation transformer 71. The second network isolation transformer 72 is connected to the first Ethernet network chip 33 and the second network interface 62 of the Profinet bus device 3, so that the first Ethernet network chip 33 of the Profinet bus device 3 is connected to the second network interface 62 through the second network isolation transformer 72. This enables the Profinet bus device 3 to support dual network ports.

[0086] The second JTAG download port 34 is used by the host computer to download firmware to the Profinet bus device 3.

[0087] The Profinet bus device 3 is externally connected to the power supply 4 and the clock 5, respectively.

[0088] Preferably, the Profinet bus device 3 is a Profinet bus slave chip, such as the Siemens slave protocol stack chip dedicated to ERTEC200P-2.

[0089] In one embodiment, the EtherCAT bus device 1 is communicatively connected to the bus protocol stack data interaction device 2 to realize communication interaction with the bus protocol stack data interaction device 2.

[0090] Specifically, as an optional embodiment, when the gateway device 100 is operating in slave mode, the gateway device 100 can realize the conversion between EtherCAT bus slave and Profinet bus slave.

[0091] like Figure 4 As shown, in slave mode, the EtherCAT bus device 1 is an EtherCAT bus slave chip 11. The EtherCAT bus slave chip 11 has an EtherCAT slave controller (ESC), simultaneously implementing both communication and control functions, and integrates two 10 / 100 Ethernet transceivers, providing Ethernet networking capabilities. For example, the EtherCAT bus slave chip 11 is an AX58100 / LAN9252 / ET1100 chip.

[0092] The EtherCAT bus slave chip 11 communicates with the bus protocol stack data interaction device 2 using a first preset communication method, enabling data communication, IRQ interrupts, third synchronization (SYNC0) interrupts, and fourth synchronization (SYNC1) interrupts between the EtherCAT bus slave chip 11 and the bus protocol stack data interaction device 2. Preferably, the first preset communication method includes FSMC communication or SPI communication.

[0093] The EtherCAT bus slave chip 11 has a built-in EEPROM module 113, which is used to store the device description file of the EtherCAT bus slave chip 11. When the EtherCAT bus slave chip 11 is powered on, it reads the EEPROM data in the EEPROM module 113 through the IIC interface.

[0094] Optionally, the EEPROM module 113 can be externally mounted on the EtherCAT bus slave chip 11. The EEPROM module 113 is connected to the EtherCAT bus slave chip 11 via an IIC interface. The EEPROM module 113 stores the device description file of the EtherCAT bus slave chip 11. After the EtherCAT bus slave chip 11 is powered on, it reads the EEPROM data in the EEPROM module 113 via the IIC interface.

[0095] The gateway device 100 further includes a third network interface 63 and a fourth network interface 64, which are respectively connected to the EtherCAT bus slave chip 11, enabling the EtherCAT bus slave chip 11 to support dual network ports (one input and one output). The third network interface 63 and the fourth network interface 64 are both RJ45 network ports.

[0096] The gateway device 100 further includes a third network isolation transformer 73 and a fourth network isolation transformer 74. The third network isolation transformer 73 is connected to both the EtherCAT bus slave chip 11 and the third network interface 63, enabling the EtherCAT bus slave chip 11 to connect to the third network interface 63 via the third network isolation transformer 73. The fourth network isolation transformer 74 is connected to both the EtherCAT bus slave chip 11 and the fourth network interface 64, enabling the EtherCAT bus slave chip 11 to connect to the fourth network interface 64 via the fourth network isolation transformer 74. This allows the EtherCAT bus slave chip 11 to support dual network ports, one input and one output.

[0097] The external parts of the EtherCAT slave chip 11 are respectively connected to the power supply 4 and the clock 5.

[0098] In this embodiment, the EtherCAT slave chip 11, the bus protocol stack data interaction device 2, and the Profinet bus device 3 (for example, Profinet slave chip) constitute a slave-to-slave gateway device for the mutual conversion between the EtherCAT slave and the Profinet slave. Thus, the gateway device can work in the slave-to-slave mode to achieve the mutual conversion between the EtherCAT slave and the Profinet slave, enabling the interconnection of the EtherCAT bus and the Profinet bus that are not compatible with each other by themselves, enabling the intercommunication between different bus devices, allowing customers to communicate normally without using the same bus protocol devices, not being easily restricted by specific manufacturers and specific bus model devices, and being able to use a unified bus standard and usage method to meet the differential configuration requirements of client bus devices. The gateway device can work in the master-slave mode to play a bridging role in the EtherCAT bus control system and the Profinet bus control system, directly breaking through the technical barrier of the incompatibility of the bus communication protocols of the above two control systems. The gateway device enables the on-site real-time intercommunication of the control systems of the above two different buses, and can also realize the linkage control between the control systems in two sets of control systems.

[0099] In one embodiment, the EtherCAT bus device is communicatively connected to the bus protocol stack data interaction device to achieve communication interaction with the bus protocol stack data interaction device.

[0100] Specifically, as another optional embodiment, when the gateway device 100 works in the master-slave mode, the gateway device 100 can achieve the mutual conversion between the EtherCAT master and the Profinet slave.

[0101] As Figure 5 shown, in the master-slave mode, the EtherCAT bus device 1 is the second Ethernet network chip 12, for example, the LAN8720A chip.

[0102] Specifically, the second Ethernet network chip 12 communicates with the bus protocol stack data interaction device 2 using a second preset communication method. The second Ethernet network chip 12 and the bus protocol stack data interaction device 2 jointly build an EtherCAT bus master based on the SOEM master (Simple Open EtherCAT Master). The second preset communication method includes ETH Ethernet communication.

[0103] The gateway device 100 further includes a fifth network interface 65, which is connected to the second Ethernet network chip 12, enabling the second Ethernet network chip 12 to connect to an external EtherCAT bus slave station through the fifth network interface 65. The fifth network interface 65 is an RJ45 network port.

[0104] The gateway device 100 further includes a fifth network isolation transformer 75, which is connected to the second Ethernet network chip 12 and the fifth network interface 65 respectively, so that the second Ethernet network chip 12 is connected to the fifth network interface 65 through the fifth network isolation transformer 75, and then connected to an external EtherCAT bus slave through the fifth network interface 65.

[0105] The second Ethernet network chip 12 is externally connected to the power supply 4 and the clock 5. The clock 5 is a 25MHz crystal oscillator.

[0106] The gateway device 100 also includes a bus driver chip 8, which is connected to the host computer communication interface 26 of the bus protocol stack data interaction device 2. The bus protocol stack data interaction device 2 interacts with the EtherCAT bus master host computer through the bus driver chip 8.

[0107] Preferably, the bus driver chip 8 is connected to the USB interface or serial interface of the bus protocol stack data interaction device 2 via a USB data cable or a serial data cable, and the bus driver chip 8 is connected to the USB interface or serial interface of the host computer via a USB data cable or a serial data cable, thereby enabling the bus protocol stack data interaction device 2 to establish a communication connection through the bus driver chip 8, and enabling the bus protocol stack data interaction device 2 to interact with the host computer through the bus driver chip 8.

[0108] When the gateway device 100 operates in master-slave mode, the second processor 22 of the bus protocol stack data interaction device 2 includes a first sub-processor and a second sub-processor. The first sub-processor runs the FreeRTOS system to process the EtherCAT bus protocol stack, which has high real-time requirements. The second sub-processor runs the PDI data interaction of the Profinet bus and transactions for interaction with the host computer. On-chip data sharing is realized between the first sub-processor and the second sub-processor.

[0109] The storage module in the bus protocol stack data interaction device saves the parameter data configured by the host computer. The parameter data can also be saved when the bus protocol stack data interaction device loses power.

[0110] The parameter data configured by the host computer is configured by the EtherCAT bus master station host computer, including: slave device information under the EtherCAT bus master station network topology, device type / PDO / SDO / object dictionary, and the interface for data interaction between Profinet bus slaves and EtherCAT master station and EtherCAT bus slaves.

[0111] In this embodiment, the second Ethernet network chip, the bus protocol stack data interaction device, and the gateway device are used to enable the gateway device to operate in master-slave mode and realize the mutual conversion between EtherCAT bus master and Profinet bus slave.

[0112] In this embodiment, an EtherCAT bus master station based on the SOEM master station is jointly built by the second Ethernet network chip and the bus protocol stack data interaction device. Then, it forms a master-slave gateway device with the Profinet bus device to switch between the EtherCAT bus master station and the Profinet bus slave station. This enables the interconnection of the two incompatible protocols, EtherCAT and Profinet, and allows different bus devices to communicate with each other. Customers do not need to use devices with the same bus protocol to communicate normally. It is not easily limited by devices from specific manufacturers or specific bus models. It can use a unified bus standard and usage method to meet the differentiated configuration requirements of client bus devices. The gateway device can work in master-slave mode to enable the Profinet bus control system to control the EtherCAT bus slave devices.

[0113] In one embodiment, such as Figure 2 As shown, the gateway device 100 also includes a plurality of running / error indicator lights 9, which are connected to the status indication interface 25 of the bus protocol stack data interaction device 2 to indicate the running / error status of the gateway device 100.

[0114] Specifically, the plurality of said run / error indicator lights 9 include: EtherCAT bus communication run / error (ECAT_RUN / Error) indicator lights, Profinet bus communication run / error (PN_RUN / Error) indicator lights, and EtherCAT bus and Profinet bus data exchange run / error (Exchange_RUN / Error) indicator lights; wherein:

[0115] The EtherCAT bus communication run / error indicator light is connected to the EtherCAT bus communication run / error indicator interface of the bus protocol stack data interaction device, and is used to indicate the run / error status of the EtherCAT bus protocol stack.

[0116] The Profinet bus communication run / error indicator light is connected to the Profinet bus communication run / error indicator interface of the bus protocol stack data interaction device, and is used to indicate the run / error status of the Profinet bus protocol stack.

[0117] The EtherCAT bus and Profinet bus data exchange operation / error indicator light is connected to the EtherCAT bus and Profinet bus data exchange operation / error indicator interface of the bus protocol stack data exchange device. It is used to indicate the status of gateway data exchange. A green light indicates that the protocol stack is running normally, and a red light indicates a failure.

[0118] The technical solution of the present invention will be further described below with reference to specific embodiments.

[0119] like Figure 6 As shown, the present invention provides an application scenario in which a gateway device 100 interconnecting an EtherCAT bus and a Profinet bus operates in slave mode.

[0120] In this application scenario, the EtherCAT bus device 1 is an EtherCAT bus slave chip 11 (e.g., AX58100 / LAN9252 / ET1100 chip), the Profinet bus device 3 is a Profinet bus slave chip (e.g., ERTEC200P-2 chip), and the bus protocol stack data interaction device 2 is an STMicroelectronics STM32F407 microcontroller.

[0121] The Profinet bus slave chip is externally connected to the Profinet bus master system through the first network interface 61 (Profinet bus IN network port), and is connected to the motion control devices of other Profinet bus servo driver slaves, or solenoid valves, flow meters, sensors, etc. of the Profinet bus remote IO slave through the second network interface 62 (Profinet bus OUT network port). The next level can be connected to the Profinet bus processing equipment slave to form an automated Profinet bus control system for a workshop assembly line 1.

[0122] The EtherCAT bus slave chip 11 is externally connected to the EtherCAT bus master system through the third network interface 63 (EtherCAT bus IN network port), and is connected to the motion control devices of other EtherCAT bus servo driver slaves, or solenoid valves, flow meters, sensors, etc. of the EtherCAT bus remote IO slave through the fourth network interface 64 (EtherCAT bus OUT network port). The next level can be connected to the EtherCAT bus processing equipment slave to form an automated EtherCAT bus control system for a workshop assembly line 2.

[0123] The Profinet bus control system and the EtherCAT bus control system can interact real-time data through the gateway device 100. The Profinet bus master system of the workshop assembly line 1 can control and monitor the EtherCAT bus slave devices of the workshop assembly line 2. The EtherCAT bus master system of the workshop assembly line 2 can access and read / write the Profinet bus master system through the gateway device 100 to achieve the linkage control of the smart factory. If there is a fault in the equipment of the workshop assembly line 1, it can notify the EtherCAT bus control system of the workshop assembly line 2 in real time, and real-time linkage protection can be achieved, and vice versa. Thus, the EtherCAT bus and the Profinet bus, which are not compatible with each other in protocol itself, can be interconnected, and different bus devices can communicate with each other. Customers do not need to use the same bus protocol devices in a supporting manner to communicate normally, and are not easily restricted by specific manufacturers and specific bus model devices. The unified bus standard and usage method can be used to meet the differentiated configuration requirements of the client bus devices. The gateway device 100 can work in the master-slave mode to play a bridging role in the EtherCAT bus control system and the Profinet bus control system, directly breaking through the technical barrier of the incompatibility of the bus communication protocols of the above two control systems. The gateway device enables the above two different bus control systems to achieve real-time interconnection at the field level, and can also achieve linkage control between the control systems in the two control systems.

[0124] Such as Figure 7 As shown, the present invention provides an application scenario in which a gateway device 100 interconnecting an EtherCAT bus and a Profinet bus operates in master-slave mode.

[0125] In this application scenario, the EtherCAT bus device 1 is a second Ethernet network chip 12 (e.g., LAN8720A chip), the Profinet bus device 3 is a Profinet bus slave chip (e.g., ERTEC200P-2 chip), and the bus protocol stack data interaction device 2 is an STMicroelectronics STM32H755 microcontroller.

[0126] The Profinet bus slave chip is connected to the Profinet bus master system via the first network interface 61 (Profinet bus IN port), and to motion control devices of other Profinet bus servo drive slaves, or solenoid valves, flow meters, sensors, etc. of Profinet bus remote I / O slaves, via the second network interface 62 (Profinet bus OUT port). The next level can connect to Profinet bus processing equipment slaves to form an automated Profinet bus control system.

[0127] The bus protocol stack data interaction device 2 is externally connected to the EtherCAT bus master station host computer via the host computer communication interface 26. The second Ethernet network chip 12 is connected to the motion control devices of other EtherCAT bus servo drive slave stations, or the solenoid valves, flow meters, sensors, etc. of EtherCAT bus remote IO slave stations, via the fifth network interface 65 (EtherCAT bus OUT port). The next level can be connected to the EtherCAT bus processing equipment slave station to form an EtherCAT bus slave station device.

[0128] In gateway device 100, the user obtains parameter data configured by the host computer from the EtherCAT bus master station via the host computer communication interface. From the obtained parameter data, the user reads the system information of the EtherCAT bus master station and the topology of the slave stations. The user can freely select the EtherCAT bus slave devices controlled by gateway device 100 according to their needs, and select the object dictionaries of the indices and sub-indices to be mapped for PDO and SDO. The user selects and configures the operating mode of the EtherCAT bus slave: FreeRUN mode, DC distributed clock mode, or SM synchronous management mode. The user sets the operating cycle of DC mode and the time offset for sending and receiving. From the obtained parameter data, the user reads the Profinet bus GSD file and selects the input and output SLOT modules to be mapped on the Profinet bus. The user maps the Profinet bus slot modules to the EtherCAT bus slave object dictionary and aligns the data, configuring them on gateway device 100. Then, the user opens the configuration software of the Profinet bus master station system for configuration programming. This enables interconnection between EtherCAT and Profinet buses, which are inherently incompatible with each other. It allows different bus devices to communicate with each other without requiring customers to use devices with the same bus protocol. It is not easily limited by devices from specific manufacturers or with specific bus models. It allows the use of a unified bus standard and usage method to meet the differentiated configuration requirements of client bus devices. It also allows the gateway device to operate in master-slave mode, enabling the Profinet bus control system to control EtherCAT bus slave devices.

[0129] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0130] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; under the concept of the present invention, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the present invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A gateway device interconnecting an EtherCAT bus and a Profinet bus, characterized in that, The gateway device includes an EtherCAT bus device, a bus protocol stack data interaction device, and a Profinet bus device. The bus protocol stack data interaction device is communicatively connected to the EtherCAT bus device and the Profinet bus device, respectively, to realize the interconnection of the EtherCAT bus and the Profinet bus. The gateway device obtains parameter data configured by the host computer from the host computer of the EtherCAT bus master station through the host computer communication interface, and reads the system information of the EtherCAT bus master station and the topology of the slave station from the obtained parameter data. The bus protocol stack data interaction device includes: a storage module, a first Profinet bus communication interface, a first processor, and a first EtherCAT bus communication interface; wherein: The first EtherCAT bus communication interface is used for communication between the bus protocol stack data interaction device and the EtherCAT bus device in a first preset communication mode or a second preset communication mode. The first preset communication mode operates in slave-slave mode, where the gateway device enables mutual conversion between an EtherCAT bus slave and a Profinet bus slave. The second preset communication mode operates in master-slave mode, where the gateway device enables mutual conversion between an EtherCAT bus master and a Profinet bus slave. The gateway device also includes a switch for switching the operating mode of the gateway device, allowing it to operate in slave-slave mode or master-slave mode. The first Profinet bus communication interface is used for the bus protocol stack data interaction device to communicate with the Profinet bus device in a third preset communication mode, the third preset communication mode including variable static memory controller communication or serial peripheral interface communication. The first processor is used to implement protocol stack data interaction between the EtherCAT bus device and the Profinet bus device; The storage module is used to save the parameter data configured by the host computer. The parameter data can also be saved when the bus protocol stack data interaction device loses power. In the master-slave mode, the EtherCAT bus device is a second Ethernet network chip; the second Ethernet network chip communicates with the bus protocol stack data interaction device using a second preset communication method, and the second Ethernet network chip and the bus protocol stack data interaction device jointly build an EtherCAT bus master based on a simple open-source EtherCAT master station.

2. The gateway device according to claim 1, characterized in that, The Profinet bus device includes a second Profinet bus communication interface, a second processor, a Flash module, and an SDRAM module; wherein: The second Profinet bus communication interface is used for the Profinet bus device to communicate with the bus protocol stack data interaction device in a third preset communication mode; The second processor is used for data interaction between the Profinet bus device and the bus protocol stack data interaction device; The Flash module is used to store the operating system of the Profinet bus device, and the SDRAM module is used to read and write SDRAM data.

3. The gateway device according to claim 1, characterized in that, The Profinet bus device also includes a first Ethernet network chip; The gateway device further includes a first network interface, a second network interface, a first network isolation transformer, and a second network isolation transformer. The first network isolation transformer is connected to the first Ethernet network chip and the first network interface, respectively, and the second network isolation transformer is connected to the first Ethernet network chip and the second network interface, respectively.

4. The gateway device according to claim 1, characterized in that, In slave mode, the EtherCAT bus device is an EtherCAT bus slave chip. The EtherCAT bus slave chip communicates with the bus protocol stack data interaction device using a first preset communication method to realize data communication between the EtherCAT bus slave chip and the bus protocol stack data interaction device.

5. The gateway device according to claim 4, characterized in that, The gateway device further includes a third network interface, a fourth network interface, a third network isolation transformer, and a fourth network isolation transformer. The third network isolation transformer is connected to the EtherCAT bus slave chip and the third network interface, respectively. The fourth network isolation transformer is connected to the EtherCAT bus slave chip and the fourth network interface, respectively.

6. The gateway device according to claim 4, characterized in that, The EtherCAT bus slave chip also includes a built-in EEPROM module for storing the device description file of the EtherCAT bus slave chip.

7. The gateway device according to claim 1, characterized in that, The gateway device further includes a fifth network interface and a fifth network isolation transformer, the fifth network isolation transformer being connected to the second Ethernet network chip and the fifth network interface, respectively.

8. The gateway device according to claim 1, characterized in that, The bus protocol stack data interaction device further includes a host computer communication interface; the gateway device further includes a bus driver chip, which is connected to the host computer communication interface of the bus protocol stack data interaction device, and the bus protocol stack data interaction device interacts with the host computer through the bus driver chip.

9. The gateway device according to claim 1, characterized in that, The bus protocol stack data interaction device also includes a status indication interface, which is used to output the operating / error status of the gateway device. The gateway device also includes several operation / error indicator lights, which are connected to the status indication interface of the bus protocol stack data interaction device to indicate the operation / error status of the gateway device.

10. The gateway device according to claim 1, characterized in that, The gateway device also includes a power supply and a clock; the bus protocol stack data interaction device is connected to the power supply and the clock respectively, the EtherCAT bus device is connected to the power supply and the clock respectively, and the Profinet bus device is connected to the power supply and the clock respectively.

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