Non-power-off type IO module control method for industrial control system

Abstract

The invention discloses a non-power-off type IO module control method for an industrial control system. The industrial control system comprises an adapter and a plurality of IO modules. The adapter is connected with each IO module through a first communication bus; the IO modules are sequentially connected through second communication interfaces, and the IO module located at the head is connected with the second communication interface of the adapter through the second communication interface; the control method comprises the steps that the adapter sends a field control instruction and a first communication instruction to the IO module, and whether the IO module is disconnected or not is judged based on a response signal replied by the IO module; if yes, the adapter marks the offline IO module and gives an alarm; the adapter controls the IO modules to sequentially distribute station numbers based on the module replacement completion signal, and judges whether the station numbers of the IO modules are successfully distributed or not; and if yes, the adapter cancels the mark of the offline IO module and relieves the alarm. The problem that power-off operation is needed when the IO module breaks down and is replaced is solved.

Description

Technical Field

[0001] The present application relates to the field of industrial control technology, and in particular to a non-power-off IO module control method for an industrial control system. Background Art

[0002] In industrial control systems, adapters are usually required to uniformly manage multiple IO modules on site, aggregate the data of each IO module through the adapter for reporting, or control the corresponding IO module to perform corresponding operations according to the superior instructions; When an IO module in the system is damaged or abnormal, it needs to be replaced with a new IO module. The current common operation is to first power off the adapter and IO module, remove the old IO module and replace it, and then reconnect the adapter to the IO module for communication; However, this method has the following disadvantages: First, power outages will cause the entire system to be temporarily paralyzed, which is a great inconvenience for industrial production lines that need to run continuously and may cause production delays or interruptions; second, frequent power outages and restarts will also affect the service life of the equipment and increase the risk of failure. Summary of the invention

[0003] In order to solve the problem that a power-off operation is required when replacing an IO module failure in an industrial control system, the present application provides a non-power-off IO module control method for an industrial control system.

[0004] In a first aspect, the present application provides a non-power-off IO module control method for an industrial control system, which adopts the following technical solution: The industrial control system includes an adapter and a plurality of IO modules; the adapter and each IO module are connected to a first communication bus; the IO modules are connected in sequence through a second communication interface, and the IO module at the head is connected to the second communication interface of the adapter through the second communication interface; the control method includes: The adapter sends a field control instruction and a first communication instruction to the IO module, and determines whether the IO module is offline based on a response signal replied by the IO module; If so, the adapter marks the offline IO module and issues an alarm; The adapter controls each IO module to sequentially allocate station numbers based on the module replacement completion signal, and determines whether the station numbers of each IO module are allocated successfully based on the station number allocation results of each IO module; If so, the adapter unmarks the offline IO module and clears the alarm.

[0005] By adopting the above technical solution, the adapter sends field control instructions to each IO module through the first communication bus, that is, during the normal field data interaction, the first communication instruction is also sent to each IO module to maintain regular communication. When the IO module is offline, it can be discovered and an alarm can be given in time, and the offline can still be accurately identified when the IO module is idle for a long time, which is convenient for the staff to handle in time. In this process, the normal data interaction between the adapter and the online IO module will not be affected; when the offline IO module is replaced or processed, the adapter receives the module replacement completion signal and re-controls each IO module to allocate the station number. When the allocation is successful, the adapter cancels the alarm, indicating that the new IO module has been replaced; in the whole process of the IO module being offline due to abnormality or damage and the IO module being replaced, the adapter and the normally operating IO module do not need to be powered off, which solves the problem of power off when replacing IO module failures in industrial control systems, greatly improving the work efficiency of the system.

[0006] In a specific implementation scheme, the adapter sends a field control instruction and a first communication instruction to the IO module, and determines whether the IO module is offline based on a response signal replied by the IO module, specifically including: The adapter sends a field control instruction to the IO module through the first communication bus, and sends a first communication instruction to each IO module in turn through the first communication bus in a polling manner based on a preset time interval t1; The adapter waits for a response signal from the IO module based on the field control instruction or the first communication instruction; If the adapter receives a response signal from the IO module within the preset waiting time t2, and the data format and data content of the response signal are correct, the adapter determines that the IO module is online; If the adapter does not receive a response signal from the IO module within the waiting time t2, or if the adapter receives a response signal from the IO module within the preset waiting time t2 and the data format or data content of the response signal is incorrect, the adapter determines that the IO module is offline.

[0007] By adopting the above technical solution, the adapter is used as the master and the IO module is used as the slave, and the first communication instruction is sent to each IO module through adapter polling; combined with the data format and data content of the response signal replied by each IO module, it is accurately determined whether the IO module is online or offline.

[0008] In a specific feasible implementation scheme, the adapter controls each IO module to sequentially allocate station numbers based on the module replacement completion signal, and determines whether the station number of each IO module is allocated successfully based on the station number allocation result of each IO module, specifically including: The adapter, based on the module replacement completion signal, pulls up the level of its second communication interface and broadcasts a station number allocation instruction to the first communication bus; The IO module, based on the change of the level state of the second communication interface of the adapter and the station number allocation instruction, starts with the IO module located at the head and sequentially allocates station numbers in the connection order, and replies a station number allocation completion signal to the adapter after completing the station number allocation; The adapter determines that the station numbers of each IO module are successfully allocated based on the station number allocation completion signal replied by each IO module.

[0009] By adopting the above technical solution, the IO module assigns station numbers in sequence according to the connection order, and promptly notifies the adapter after completing the station number assignment. This method can not only greatly shorten the station number assignment time, but also avoid data congestion on the first communication bus.

[0010] In a specific implementation scheme, the IO module, based on the change in the level state of the second communication interface of the adapter and the station number allocation instruction, starts with the IO module located at the head, and sequentially allocates station numbers in accordance with the connection order, and replies to the adapter with a station number allocation completion signal after completing the station number allocation, specifically including: The IO module located at the head performs a module station number allocation operation by sensing a change in the level state of the second communication interface of the adapter; wherein the module station number allocation operation includes: starting a station number allocation function, obtaining a station number allocation instruction from the first communication bus, performing station number allocation according to the station number indicated by the station number allocation instruction, recording its own station number, replying a station number allocation completion signal to the adapter through the first communication bus, and raising the level of the second communication interface connected to the subsequent IO module; Traversing all IO modules, the subsequent IO modules all sense the change in the level state of the second communication interface of the previous IO module and sequentially execute the module station number allocation operation until the IO module at the end completes the station number allocation.

[0011] By adopting the above technical solution, after the front-stage IO module completes the station number allocation, it promptly replies to the adapter with a station number allocation completion signal, and raises the level of its own second communication interface to notify the rear-stage IO module, making the station number allocation more efficient.

[0012] In a specific implementation scheme, the adapter, based on the module replacement completion signal, raises the level of its second communication interface and broadcasts a station number allocation instruction to the first communication bus, further comprising: Each IO module executes an initialization process based on the broadcast station number allocation instruction; The initialization process includes: MCU system clock initialization; System initialization; Initialize peripherals; Check whether the hardware is normal.

[0013] By adopting the above technical solution, each IO module located on the first communication bus is initialized through the station number allocation instruction sent by the adapter. Before the IO module allocates the station number, the second communication interface of the IO module and the first communication bus are pre-configured, which can ensure the subsequent normal communication and data transmission and reception between the adapter and the IO module.

[0014] In a specific implementation scheme, the adapter sending the field control instruction to the IO module and the adapter sending the first communication instruction to the IO module are performed in different threads.

[0015] By adopting the above technical solutions, data disorder can be effectively avoided and the stable operation of the system can be ensured.

[0016] In a specific implementation scheme, the first communication bus is a uart bus; and the second communication interface is a gpio interface.

[0017] In a second aspect, the present application provides an industrial control system, adopting the following technical solution: the industrial control system includes an adapter and multiple IO modules; the industrial control system is used to execute the non-power-off IO module control method for an industrial control system in the above-mentioned first aspect or any feasible implementation scheme of the first aspect.

[0018] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages: 1. The adapter sends field control instructions to each IO module through the first communication bus, that is, during the normal field data interaction, the first communication instruction is also sent to each IO module to maintain regular communication. When the IO module is offline, it can be discovered and alarmed in time, and the offline can still be accurately identified when the IO module is idle for a long time, which is convenient for the staff to handle in time. In this process, the normal data interaction between the adapter and the online IO module will not be affected; 2. When the offline IO module is replaced or processed, the adapter receives the module replacement completion signal and re-controls each IO module to assign station numbers. When the assignment is successful, the adapter removes the alarm, indicating that the new IO module has been replaced. During the entire process of the IO module being offline due to abnormality or damage and the IO module being replaced, the adapter and the normally operating IO module do not need to be powered off, which solves the problem of powering off when replacing an IO module failure in an industrial control system, greatly improving the system's work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the connection structure of the industrial control system in the embodiment of the present application; Figure 2 It is a flowchart of a non-power-off IO module control method for an industrial control system in an embodiment of the present application; Figure 3 It is a schematic diagram of the main process of the adapter side when allocating station numbers in an embodiment of the present application; Figure 4 It is a schematic diagram of the main process of allocating station numbers on the IO module side in an embodiment of the present application. DETAILED DESCRIPTION

[0020] In order to enable technicians in this field to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below in conjunction with the drawings in the embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments.

[0021] In the description of the embodiments of the present application, words such as "for example" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "for example" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "for example" or "for example" is intended to present related concepts in a specific way.

[0022] In the description of the embodiments of the present application, the meaning of the term "multiple" refers to two or more. For example, multiple systems refer to two or more systems, and multiple screen terminals refer to two or more screen terminals. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. The terms "include", "comprise", "have" and their variations all mean "including but not limited to", unless otherwise specifically emphasized.

[0023] The present application embodiment provides a non-power-off IO module control method for an industrial control system, such as Figure 1 As shown, the industrial control system includes an adapter and multiple IO modules; the adapter and each IO module are connected to a first communication bus; the IO modules are connected in sequence through a second communication interface, and the IO module at the head is connected to the second communication interface of the adapter through the second communication interface.

[0024] In one possible implementation, continue to refer to Figure 1 The first communication bus is a uart bus, that is, the adapter and each IO module are connected via the uart bus; the second communication interface is a gpio interface.

[0025] Reference Figure 2 and Figure 3 , the control method of this embodiment includes steps S1-S4.

[0026] S1, the adapter sends a field control instruction and a first communication instruction to the IO module, and determines whether the IO module is offline based on a response signal replied by the IO module; It can be understood that the response signal replied by the IO module is the response signal replied by the IO module based on the field control instruction or the first communication instruction. The field control instruction represents the control instruction sent by the adapter to the corresponding IO module to obtain the field conditions at the industrial site; for example, if the IO module is a temperature sensing module, the field control instruction may be to collect the current temperature, that is, the adapter sends a temperature collection instruction to the IO module, and the IO module performs the temperature collection action based on the temperature collection instruction and replies to the corresponding response signal to the adapter. The first communication instruction is the instruction regularly sent by the adapter to the IO module in order to further accurately determine whether the adapter is offline.

[0027] It should be noted that, since the IO module may be in an idle state, that is, the adapter may not send field control instructions to the IO module for a long time, if the IO module is judged whether it is offline only based on the response signal replied by the IO module to the field control instruction, and the communication between the adapter and the IO module is not maintained through the first communication instruction, then the adapter may not be able to detect it in time when the IO module is offline. Therefore, in step S1, the adapter can accurately and timely determine whether the IO module is offline by combining the field control instruction and the first communication instruction.

[0028] In a possible implementation, step S1, the adapter sends a field control instruction and a first communication instruction to the IO module, and determines whether the IO module is offline based on a response signal replied by the IO module, which specifically includes steps A1-A3.

[0029] A1, the adapter sends a field control instruction to the IO module through the first communication bus, and based on a preset time interval t1, uses a polling method to send a first communication instruction to each IO module in turn through the first communication bus; specifically, the adapter can use a heartbeat packet to send the first communication instruction to each IO module to find the IO module.

[0030] Furthermore, the industrial control system may also include a main controller, which is connected to the adapter. The main controller, as the brain of the industrial control system, may control the adapter to send field control instructions to the IO module. In this step, the field control instructions sent by the adapter to the IO module may use a data format including data length, data content, and data verification.

[0031] A2, the adapter waits for a response signal from the IO module based on the field control instruction or the first communication instruction.

[0032] A3, if the adapter receives a response signal from the IO module within the preset waiting time t2, and the data format and data content of the response signal are correct, the adapter determines that the IO module is online; If the adapter does not receive a response signal from the IO module within the waiting time t2, or if the adapter receives a response signal from the IO module within the preset waiting time t2 and the data format or data content of the response signal is incorrect, the adapter determines that the IO module is offline.

[0033] Among them, the above-mentioned data format includes data results and encoding methods, etc. Based on the data format, the adapter can determine whether the data format meets expectations; based on the data content, the adapter can determine whether the data content matches the field control instructions or the first communication instructions, and whether it accurately reflects the processing results of the IO module.

[0034] Furthermore, the polling method is that the adapter sends a first communication instruction to an IO module, and after processing the response signal of the current IO module based on the first communication instruction, it sends the first communication instruction to the next IO module and processes the next IO module. In this way, data congestion or disorder on the first communication bus can be effectively avoided.

[0035] Through steps A1-A3, the adapter is used as the master and the IO module is used as the slave, and the first communication instruction is sent to each IO module through adapter polling; combined with the data format and data content of the response signal replied by each IO module, it is accurately determined whether the IO module is online or offline.

[0036] It should be noted that although the adapter sends field control instructions to the IO module through the first communication bus to perform normal field data interaction, and also sends the first communication instructions to the IO module through the first communication bus to maintain communication with the IO module when the IO module is idle; however, the adapter sends the field control instructions to the IO module and the adapter sends the first communication instructions to the IO module in different threads. In other words, the two threads are independent of each other and do not belong to the same thread; similarly, the adapter receives the response signal of the IO module in reply to the field control instruction, and the adapter receives the response signal of the IO module in reply to the first communication instruction, which are also carried out in different threads. Through such a design, data disorder can be effectively avoided and the stable operation of the system can be ensured.

[0037] In a possible implementation manner, before step S1, the following steps may also be included: When the industrial control system is powered on, the adapter performs an initialization process, wherein the initialization process includes: MCU system clock initialization; System initialization; Initialize peripherals; Check whether the hardware is normal.

[0038] Through the above adapter initialization steps, the communication between the adapter and the IO module and the signal processing are guaranteed.

[0039] S2, if yes, the adapter marks the offline IO module and issues an alarm; In this step, if the adapter finds that an IO module is offline, an alarm is issued to remind the staff to handle it.

[0040] S3, the adapter controls each IO module to perform station number allocation in sequence based on the module replacement completion signal, and determines whether the station number of each IO module is allocated successfully based on the station number allocation result of each IO module; In this step, after the alarm is issued and the staff handles it, the adapter receives the module replacement completion signal again. The module replacement completion signal indicates that the offline IO module has been replaced. At this time, the adapter controls each IO module to assign a station number. The module replacement completion signal can be issued by the main controller, or a corresponding button can be set on the adapter. When the IO module is replaced, the staff manually operates the button, and the adapter receives the module replacement completion signal. The specific method can be set by those skilled in the art, and this application does not make specific limitations on this.

[0041] In a possible implementation, step S3, the adapter controls each IO module to assign a station number in turn based on the module replacement completion signal, and determines whether the station number of each IO module is assigned successfully based on the station number assignment result of each IO module, specifically including steps B1-B3.

[0042] B1, the adapter, based on the module replacement completion signal, pulls up the level of its second communication interface and broadcasts a station number allocation instruction to the first communication bus; B3, the IO module, based on the change of the level state of the second communication interface of the adapter and the station number allocation instruction, starts with the IO module located at the head, and sequentially allocates station numbers in accordance with the connection order, and replies a station number allocation completion signal to the adapter after completing the station number allocation; B4, the adapter determines that the station numbers of each IO module are successfully allocated based on the station number allocation completion signal replied by each IO module.

[0043] Through the above steps, the IO module assigns station numbers in sequence according to the connection order, and promptly notifies the adapter after completing the station number assignment. This method can not only greatly shorten the station number assignment time, but also avoid data congestion on the first communication bus.

[0044] In one possible implementation, refer to Figure 4 In step B3, the IO module, based on the change in the level state of the second communication interface of the adapter and the station number allocation instruction, starts with the IO module located at the head, and allocates station numbers in sequence according to the connection order, and replies to the adapter with a station number allocation completion signal after completing the station number allocation, specifically including steps B31-B32.

[0045] B31, an IO module located at the head, performs a module station number allocation operation by sensing a change in the level state of the second communication interface of the adapter; Among them, the module station number allocation operation includes: turning on the station number allocation function, obtaining the station number allocation instruction from the first communication bus, allocating the station number according to the station number indicated by the station number allocation instruction, recording its own station number, replying the station number allocation completion signal to the adapter through the first communication bus, and raising the level of the second communication interface connected to the subsequent IO module.

[0046] B32, traversing all IO modules, the subsequent IO modules all sense the change in the level state of the second communication interface of the previous IO module, and sequentially perform the module station number allocation operation until the IO module at the end completes the station number allocation; Those skilled in the art can understand that the front-stage IO module and the rear-stage IO module are characterized separately, starting with the IO module connected to the second communication interface of the adapter, and according to the connection order of the IO modules, in the two adjacent IO modules, there are the IO module at the front end and the IO module at the rear end. The front-stage and rear-stage here refer to the two adjacent IO modules distinguished according to their relative positions. The IO module at the front end is called the front-stage IO module, and the IO module at the rear end is called the rear-stage IO module. Figure 1 For example, when the IO module connected to the second communication interface of the adapter is a front-stage IO module, the IO module connected to the second communication interface outputted by the IO module is a rear-stage IO module.

[0047] Specifically, in this step, the IO module can be configured to obtain the level status of the second communication interface of the previous IO module once every time interval t3, and the time interval t3 is 100ms. The IO module can also be configured to obtain a station number allocation instruction from the first communication bus once every time interval t4, and the time interval t4 is 100ms.

[0048] Through the above steps, after the front-stage IO module completes the station number allocation, it promptly replies to the adapter with a station number allocation completion signal, and raises the level of its own second communication interface to notify the rear-stage IO module, making the station number allocation more efficient.

[0049] In a possible implementation, step B1, after the adapter, based on the module replacement completion signal, raises the level of its second communication interface and broadcasts a station number allocation instruction to the first communication bus, further includes step B2.

[0050] B2, each IO module executes an initialization process based on the broadcast station number allocation instruction; The initialization process includes: MCU system clock initialization; System initialization; Initialize peripherals; Check whether the hardware is normal.

[0051] It can be seen that the specific process of the IO module performing initialization is the same as the specific process of the adapter performing initialization.

[0052] The station number allocation instruction sent by the adapter initializes each IO module on the first communication bus. Before the IO module allocates the station number, the second communication interface of the IO module and the first communication bus are pre-configured to ensure subsequent normal communication and data transmission and reception between the adapter and the IO module.

[0053] S4, if yes, the adapter cancels the mark of the offline IO module and releases the alarm; In this step, when the station number of each IO module is successfully assigned, it means that the replaced IO module has been successfully connected to the industrial control system and the system has re-established the connection. The adapter and each IO module can continue to interact with normal field data. That is, after the alarm is lifted, for the industrial control system that has completed the IO module replacement, the adapter still sends field control instructions and first communication instructions to each IO module through the first communication bus, and determines whether there is an IO module offline based on the response signal replied by the IO module.

[0054] Through steps S1-S4, the adapter sends field control instructions to each IO module through the first communication bus, that is, during the normal field data interaction, the first communication instruction is also sent to each IO module to maintain regular communication. When the IO module is offline, it can be discovered and an alarm can be issued in time, and the offline can still be accurately identified when the IO module is idle for a long time, which is convenient for the staff to handle in time. In this process, the normal data interaction between the adapter and the online IO module will not be affected; when the offline IO module is replaced or processed, the adapter receives the module replacement completion signal and re-controls each IO module to allocate the station number. When the allocation is successful, the adapter cancels the alarm, indicating that the new IO module has been replaced; in the whole process of the IO module being offline due to abnormality or damage and the IO module being replaced, the adapter and the normally operating IO module do not need to be powered off, which solves the problem of powering off when replacing IO modules in industrial control systems, greatly improving the work efficiency of the system.

[0055] An embodiment of the present application provides an industrial control system, which includes an adapter and multiple IO modules; the industrial control system is used to execute the non-power-off IO module control method for the industrial control system described in the above embodiment.

[0056] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A non-power-off IO module control method for an industrial control system, characterized in that: The industrial control system includes an adapter and a plurality of IO modules; the adapter and each IO module are connected to a first communication bus; the IO modules are connected in sequence through a second communication interface, and the IO module at the head is connected to the second communication interface of the adapter through the second communication interface; the control method includes: The adapter sends a field control instruction and a first communication instruction to the IO module, and determines whether the IO module is offline based on a response signal replied by the IO module; If so, the adapter marks the offline IO module and issues an alarm; The adapter controls each IO module to sequentially allocate station numbers based on the module replacement completion signal, and determines whether the station numbers of each IO module are allocated successfully based on the station number allocation results of each IO module; If so, the adapter unmarks the offline IO module and clears the alarm.

2. The non-power-off IO module control method for an industrial control system according to claim 1, characterized in that: The adapter sends a field control instruction and a first communication instruction to the IO module, and determines whether the IO module is offline based on a response signal replied by the IO module, specifically including: The adapter sends a field control instruction to the IO module through the first communication bus, and sends a first communication instruction to each IO module in turn through the first communication bus in a polling manner based on a preset time interval t1; The adapter waits for a response signal from the IO module based on the field control instruction or the first communication instruction; If the adapter receives a response signal from the IO module within the preset waiting time t2, and the data format and data content of the response signal are correct, the adapter determines that the IO module is online; If the adapter does not receive a response signal from the IO module within the waiting time t2, or if the adapter receives a response signal from the IO module within the preset waiting time t2 and the data format or data content of the response signal is incorrect, the adapter determines that the IO module is offline.

3. The non-power-off IO module control method for an industrial control system according to claim 1, characterized in that: The adapter controls each IO module to sequentially allocate station numbers based on the module replacement completion signal, and determines whether the station numbers of each IO module are allocated successfully based on the station number allocation results of each IO module, specifically including: The adapter, based on the module replacement completion signal, pulls up the level of its second communication interface and broadcasts a station number allocation instruction to the first communication bus; The IO module, based on the change of the level state of the second communication interface of the adapter and the station number allocation instruction, starts with the IO module located at the head and sequentially allocates station numbers in the connection order, and replies a station number allocation completion signal to the adapter after completing the station number allocation; The adapter determines that the station numbers of each IO module are successfully allocated based on the station number allocation completion signal replied by each IO module.

4. The non-power-off IO module control method for an industrial control system according to claim 3, characterized in that: The IO module, based on the change of the level state of the second communication interface of the adapter and the station number allocation instruction, starts with the IO module located at the head, allocates station numbers in sequence according to the connection order, and replies to the adapter with a station number allocation completion signal after completing the station number allocation, specifically including: The IO module located at the head performs a module station number allocation operation by sensing a change in the level state of the second communication interface of the adapter; wherein the module station number allocation operation includes: starting a station number allocation function, obtaining a station number allocation instruction from the first communication bus, performing station number allocation according to the station number indicated by the station number allocation instruction, recording its own station number, replying a station number allocation completion signal to the adapter through the first communication bus, and raising the level of the second communication interface connected to the subsequent IO module; All IO modules are traversed, and the subsequent IO modules all perform the module station number allocation operation in sequence by sensing the change in the level state of the second communication interface of the previous IO module, until the IO module at the end completes the station number allocation.

5. The non-power-off IO module control method for an industrial control system according to claim 3, characterized in that: After the adapter, based on the module replacement completion signal, raises the level of its second communication interface and broadcasts a station number allocation instruction to the first communication bus, the adapter further includes: Each IO module executes an initialization process based on the broadcast station number allocation instruction; The initialization process includes: MCU system clock initialization; System initialization; Initialize peripherals; Check whether the hardware is normal.

6. The non-power-off IO module control method for an industrial control system according to claim 1, characterized in that: The adapter sending a field control instruction to the IO module and the adapter sending a first communication instruction to the IO module are performed in different threads.

7. The non-power-off IO module control method for an industrial control system according to claim 1, characterized in that: The first communication bus is a uart bus; the second communication interface is a gpio interface.

8. An industrial control system, characterized in that: It comprises an adapter and a plurality of IO modules; the industrial control system is used to execute the non-power-off IO module control method for an industrial control system as described in any one of claims 1 to 7.

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