Redundant high-speed backplane bus communication system based on EBUS

Abstract

A redundant high-speed backplane bus communication system based on an EBUS comprises a coupler module and an expansion IO module, and the coupler module communicates with the expansion IO module through an EBUS backplane bus. The coupler module is used for receiving EtherCAT protocol data and forwarding the EtherCAT protocol data to the expansion IO module, and is also used for receiving response data uploaded by the expansion IO module and realizing interface redundancy of two paths of EBUS backplane buses; the expansion IO module comprises two EtherCAT controller chips, one of the EtherCAT controller chips is used as a common EtherCAT controller chip, and the other EtherCAT controller chip is used as a redundant EtherCAT controller chip; the EBUS backplane bus is divided into two paths, the coupler module communicates with a common EtherCAT controller chip of the expansion IO module through one path of EBUS backplane bus to form a common bus communication link, and communicates with a redundant EtherCAT controller chip of the expansion IO module through the other path of EBUS backplane bus to form a redundant bus communication link; the coupler module is further used for judging whether the common bus communication link needs to be switched to the redundant bus communication link or not based on the response data.

Description

Technical Field

[0001] The invention relates to the field of industrial control, and in particular to an EBUS-based redundant high-speed backplane bus communication system. Background Art

[0002] The backplane bus is the data exchange channel between the programmable controller and the expansion module. The backplane bus determines the response speed and expansion capability of the expansion module, affects the function and communication performance of the entire system, and is a core key technology in the field of industrial control.

[0003] At present, the backplane bus of programmable controllers mostly uses a serial communication interface. The serial bus has fewer signal lines, low hardware cost, simple communication protocol, low technical implementation difficulty, and mature solutions. Commonly used serial communication interfaces for industrial backplane buses include IIC, SPI, CAN, UART, and Ethernet.

[0004] Many general processing chips used in expansion modules integrate the above peripheral interfaces, but the IIC, SPI, CAN and UART interfaces integrated in the microcontroller have slow communication speeds and short communication distances. They are easily interfered with when used in the backplane bus and cannot meet the communication speed requirements of the backplane bus and the response speed requirements of the expansion module. Although the communication speed of Ethernet is very fast, it is a universal interface, and the intervention of the microcontroller is required when processing the communication protocol. The microcontroller processes data slowly, and the data transmission efficiency is low, so the overall communication speed is still very slow. Summary of the invention

[0005] In view of the technical defects and technical drawbacks in the prior art, the embodiment of the present invention provides a redundant high-speed backplane bus communication system based on EBUS to overcome the above problems or at least partially solve the above problems. The specific scheme is as follows:

[0006] A redundant high-speed backplane bus communication system based on EBUS, the system comprising a coupler module and an extended IO module, the coupler module communicating with the extended IO module via the EBUS backplane bus;

[0007] The coupler module is used to send EtherCAT protocol data to the extended IO module in the form of EtherCAT messages through the EBUS backplane bus, and is also used to receive response data uploaded by the extended IO module, and realize interface redundancy of two EBUS backplane buses;

[0008] The extended IO module is used to receive the message sent by the coupler module through the EBUS backplane bus, and upload the corresponding response data to the coupler module in the form of EtherCAT message through the EBUS backplane bus;

[0009] Among them, the extended IO module includes two EtherCAT controller chips for receiving messages sent by the coupler module and uploading corresponding response data to the coupler module, one of which is used as a common EtherCAT controller chip and the other is used as a redundant EtherCAT controller chip; the EBUS backplane bus is two-way, the coupler module communicates with the common EtherCAT controller chip of the extended IO module through one EBUS backplane bus to form a common bus communication link, and communicates with the redundant EtherCAT controller chip of the extended IO module through another EBUS backplane bus to form a redundant bus communication link; the response data includes status information of the two EtherCAT controller chips and corresponding EBUS backplane bus status information, and the coupler module is also used to determine whether it is necessary to switch from the common bus communication link to the redundant bus communication link based on the status information of the two EtherCAT controller chips and the corresponding EBUS backplane bus status information.

[0010] Furthermore, the coupler module includes two EBUS backplane buses, namely a common EBUS backplane bus and a redundant EBUS backplane bus; the extended IO module communication includes two EBUS backplane buses, namely a common EBUS backplane bus of a slave station and a redundant EBUS backplane bus of a slave station; the coupler module communicates with the common EBUS backplane bus of a slave station of the extended IO module through the common EBUS backplane bus to form a common bus communication link; the coupler module communicates with the redundant EBUS backplane bus of a slave station of the extended IO module through the redundant EBUS backplane bus to form a redundant bus communication link.

[0011] Furthermore, the system includes multiple expansion IO modules, and the expansion IO modules also include two EBUS backplane buses for communicating with other expansion IO modules. The multiple expansion IO modules communicate with each other through the EBUS backplane bus in turn; the common EtherCAT controller chips of two expansion IO modules that communicate with each other communicate through one EBUS backplane bus, and the redundant EtherCAT controller chips of two expansion IO modules that communicate with each other communicate through another EBUS backplane bus. The two EtherCAT controller chips that communicate with each other transmit EtherCAT protocol data, status information of the EtherCAT controller chip and corresponding EBUS backplane bus status information through the EBUS backplane bus.

[0012] Furthermore, the coupler module includes an FPGA chip and an MCU processor. The FPGA chip is used to send EtherCAT protocol data to the extended IO module in the form of EtherCAT messages through the EBUS backplane bus, and receive response data uploaded by the extended IO module. The MCU processor is used to manage the status of the coupler module.

[0013] Furthermore, the FPGA chip includes an EtherCAT IPCore, a redundant control module and an EBUS backplane bus, and the EBUS backplane bus includes two EBUS backplane buses, one of which is used as a common EBUS backplane bus and the other is used as a redundant EBUS backplane bus;

[0014] The EtherCAT IPCore sends the EtherCAT protocol data to the redundant control module and is also used to report the communication and bus status of the coupler module to the MCU processor;

[0015] The redundant control module communicates with the common EtherCAT controller chip through the common EBUS backplane bus to form a common bus communication link, and communicates with the redundant EtherCAT controller chip through the redundant EBUS backplane bus to form a redundant bus communication link; the redundant control module is also used to judge the link status of the common bus communication link and the redundant bus communication link based on the status information of the two EtherCAT controller chips in the response data and the corresponding EBUS backplane bus status information, and based on the link status, judge whether it is necessary to switch from the common bus communication link to the redundant bus communication link.

[0016] Further, the redundant control module includes a bus detection module, a redundant bus status indication module and a bus switching control module;

[0017] The bus detection module is used to read the response data uploaded by the extended IO module based on the current path bus, judge the working status of the extended IO module and the communication status of the current path bus based on the response data, judge whether it is abnormal, and output the control signal and comparison data to the redundant bus status indication module when an abnormality occurs, and output the valid path indication signal and the switching path flag control signal to the bus switching unit;

[0018] The redundant bus status indication module is used to receive the control signal and comparison data of the bus detection module, determine the signal quality and link status of the corresponding bus communication link, and output the control signal to the bus switching control module;

[0019] The bus switching control module is used to control the redundant switching of the two bus communication links through the effective path indication signal and the switching path mark control signal of the bus control module, and to switch the bus status and display the abnormal bus status through the control signal of the redundant bus status indication module. It ensures the continuity of the backplane bus communication and realizes the stability and reliability of the operation of the subsequent expansion IO module.

[0020] Furthermore, the EtherCAT controller chip is an ET1100 chip.

[0021] Furthermore, the extended IO module also includes a slave MCU processor, each EtherCAT controller chip includes an EBUS backplane bus, each EtherCAT controller chip communicates with the coupler module through the corresponding EBUS backplane bus, and the MCU processor communicates with the two EtherCAT controller chips through the SPI interface, obtains the corresponding slave module type information, the status information of the EtherCAT controller chip, the EBUS backplane bus status information of the EtherCAT controller chip and the process data from the EtherCAT controller chip, and reports the status information of the two EtherCAT controller chips and the corresponding EBUS backplane bus status information to the coupler module.

[0022] Further, the EBUS backplane bus includes a serial-to-parallel conversion interface module and an EBUS encoding and decoding module, the serial-to-parallel conversion interface module includes an LVDS transmitting module and an LVDS receiving module, and the EBUS encoding and decoding module includes an EBUS encoding module and an EBUS decoding module;

[0023] The LVDS sending module is used to convert parallel data into serial data and output it to the EBUS encoding module for encoding and output;

[0024] The LVDS receiving module is used to convert the serial data decoded by the EBUS decoding module into parallel data for reception.

[0025] Furthermore, the EBUS encoding module outputs the serial data packet through the EBUS interface after Manchester encoding; the EBUS decoding module outputs the received data packet to the LVDS receiving module after Manchester decoding.

[0026] The present invention has the following beneficial effects:

[0027] The present invention uses the coupler module as the remote communication interface module of the programmable controller, adopts the hardware architecture of FPGA and MCU processor, FPGA realizes the conversion of EtherCAT communication interface to two redundant EBUS backplane bus interfaces, converts the remote communication interface to the backplane bus communication interface, and the MCU processor realizes the state management of the coupler module. The extended IO module is a module extended by the coupler module through the backplane bus, and is composed of two ET1100 and MCU processor hardware architectures. The MCU processor and ET1100 use the SPI interface for communication, the extension module realizes the backplane communication through the EBUS interface of ET1100, transmits the EtherCAT protocol frame, and realizes the redundant link structure of EBUS backplane bus through two ET1100 chips and FPGA, so as to ensure the reliability and stability of the backplane communication. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 A schematic diagram of the hardware composition of a redundant backplane bus based on EBUS provided in an embodiment of the present invention;

[0029] Figure 2 A schematic diagram of the hardware composition of multiple expansion IO modules provided in an embodiment of the present invention;

[0030] Figure 3 A block diagram of a logic unit of an FPGA-based EtherCAT redundant bus controller provided by an embodiment of the present invention;

[0031] Figure 4 This is the data communication type of the extended IO module provided in the embodiment of the present invention. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] Figure 1 An EBUS-based redundant high-speed backplane bus communication system is provided in an embodiment of the present invention. The system comprises a coupler module and an extended IO module. The coupler module communicates with the extended IO module via the EBUS backplane bus.

[0034] The coupler module is used to send EtherCAT protocol data to the extended IO module in the form of EtherCAT messages through the EBUS backplane bus, and is also used to receive response data uploaded by the extended IO module;

[0035] The extended IO module is used to receive the message sent by the coupler module through the EBUS backplane bus, and upload the corresponding response data to the coupler module in the form of EtherCAT message through the EBUS backplane bus;

[0036] Among them, the extended IO module includes two EtherCAT controller chips for receiving messages sent by the coupler module and uploading corresponding response data to the coupler module, one of which is used as a common EtherCAT controller chip and the other is used as a redundant EtherCAT controller chip; the EBUS backplane bus is two-way, the coupler module communicates with the common EtherCAT controller chip of the extended IO module through one EBUS backplane bus to form a common bus communication link, and communicates with the redundant EtherCAT controller chip of the extended IO module through another EBUS backplane bus to form a redundant bus communication link; the response data includes status information of the two EtherCAT controller chips and corresponding EBUS backplane bus status information, and the coupler module is also used to determine whether it is necessary to switch from the common bus communication link to the redundant bus communication link based on the status information of the two EtherCAT controller chips and the corresponding EBUS backplane bus status information.

[0037] Specifically, the coupler module determines the link status of the common bus communication link and the redundant bus communication link based on the status information of the two EtherCAT controller chips and the corresponding EBUS backplane bus status information, and determines whether it is necessary to switch to the redundant bus communication link. For example, when the status of the common EtherCAT controller chip is abnormal, the coupler module will automatically switch to the redundant bus communication link.

[0038] The EBUS backplane bus is a physical layer transmission method customized by the Beckhoff EtherCAT protocol. The transmission medium uses low voltage differential signal LVDS, which is defined by the ANSI / TIA / EIA~644 "Electrical Characteristics of Low Voltage Differential Signal Interface Circuit" standard. The maximum transmission distance is 10m, the communication rate is 100Mbps, and it is implemented through LVDS using Manchester encoding / decoding (Manchester encoded). LVDS has a faster transmission rate, a longer transmission distance, a low bit error rate, a higher reliability, and low power consumption in hardware implementation, so it is suitable for backplane bus communication.

[0039] Among them, the coupler module includes two EBUS backplane buses, namely a common EBUS backplane bus and a redundant EBUS backplane bus; the extended IO module communication includes two EBUS backplane buses, namely a common EBUS backplane bus of a slave station and a redundant EBUS backplane bus of a slave station; the coupler module communicates with the common EBUS backplane bus of a slave station of the extended IO module through the common EBUS backplane bus to form a common bus communication link; the coupler module communicates with the redundant EBUS backplane bus of a slave station of the extended IO module through the redundant EBUS backplane bus to form a redundant bus communication link.

[0040] The coupler module includes an FPGA chip and an MCU processor. The FPGA chip is used to send EtherCAT protocol data to the extended IO module in the form of EtherCAT messages through the EBUS backplane bus, and receive response data uploaded by the extended IO module. The MCU processor is used to manage the status of the coupler module. The extended IO module also includes a slave MCU processor, and the EtherCAT controller chip is an ET1100 chip.

[0041] The present invention uses the coupler module as the remote communication interface module of the programmable controller, adopts the hardware architecture of FPGA and MCU processor, FPGA realizes the conversion of EtherCAT communication interface to two redundant EBUS backplane bus interfaces, converts the remote communication interface to the backplane bus communication interface, and the MCU processor realizes the state management of the coupler module. The extended IO module is a module extended by the coupler module through the backplane bus, and is composed of two ET1100 and MCU processor hardware architectures. The MCU processor and ET1100 use the SPI interface for communication, the extension module realizes the backplane communication through the EBUS interface of ET1100, transmits the EtherCAT protocol frame, and realizes the redundant link structure of EBUS backplane bus through two ET1100 chips and FPGA, so as to ensure the reliability and stability of the backplane communication.

[0042] In some embodiments, reference Figure 2As shown, the system includes multiple expansion IO modules, and the expansion IO modules also include two EBUS backplane buses for communicating with other expansion IO modules. The multiple expansion IO modules communicate with each other through the EBUS backplane bus in turn; the common EtherCAT controller chips of two expansion IO modules that communicate with each other communicate through one EBUS backplane bus, and the redundant EtherCAT controller chips of two expansion IO modules that communicate with each other communicate through another EBUS backplane bus. The two EtherCAT controller chips that communicate with each other transmit EtherCAT protocol data, status information of the EtherCAT controller chip and corresponding EBUS backplane bus status information through the EBUS backplane bus.

[0043] refer to Figure 3 As shown, the FPGA chip includes EtherCAT IPCore (EtherCAT IPCore is an intellectual property core for implementing the EtherCAT communication protocol), a redundant control module and an EBUS backplane bus, and the EBUS backplane bus includes two EBUS backplane buses, one of which is used as a common EBUS backplane bus and the other is used as a redundant EBUS backplane bus;

[0044] The EtherCAT IPCore is used to implement the EtherCAT slave function, convert the EtherCAT protocol data of the master station or other EtherCAT slave stations to the backplane EBUS interface communication through the MII interface, and realize the communication with the MCU processor through the PDI interface, and report the communication and bus status of the coupler module;

[0045] The redundant control module communicates with the common EtherCAT controller chip through the common EBUS backplane bus to form a common bus communication link, and communicates with the redundant EtherCAT controller chip through the redundant EBUS backplane bus to form a redundant bus communication link; the redundant control module is also used to judge the link status of the common bus communication link and the redundant bus communication link based on the status information of the two EtherCAT controller chips in the response data and the corresponding EBUS backplane bus status information, and based on the link status, judge whether it is necessary to switch from the common bus communication link to the redundant bus communication link.

[0046] Wherein, the redundant control module includes a bus detection module, a redundant bus status indication module and a bus switching control module;

[0047] The bus detection module is used to read the response data uploaded by the expansion IO module based on the current path bus, determine whether it is abnormal, and when an abnormality occurs, output a control signal and comparison data to the redundant bus status indication module, and output a valid path indication signal and a switch path flag control signal to the bus switching unit;

[0048] Among them, the bus detection module, redundant bus control module and bus switching module are all internal functional modules implemented in FPGA code. Their main functions are to implement logical judgment, judge the status of the bus, and switch the bus path.

[0049] The response data reported by the extended IO module through the EBUS backplane bus includes the status information of the two EtherCAT controller chips and the corresponding EBUS backplane bus status information. When the EtherCAT controller chip or the corresponding EBUS backplane bus is abnormal, the bus detection module will compare the difference between the abnormal data and the normal data to obtain specific abnormal information, and output the control signal and comparison data to the redundant bus control module. The control signal controls the switching of the status of the redundant bus status indication module, thereby feeding back the specific abnormal status.

[0050] Among them, the valid path indication signal and the switching path flag control signal are both output to the bus switching module after the bus detection module obtains abnormal data, informing the bus switching module that the common bus communication link is abnormal. The bus switching control module receives these two signals and knows that the bus channel needs to be switched.

[0051] The redundant bus status indication module is used to receive the control signal and comparison data of the bus detection module, determine the signal quality and link status of the corresponding bus communication link, and output the control signal to the bus switching control module;

[0052] Specifically, the redundant bus status indication module switches its own status through a control signal to feedback a specific abnormal status, and determines the signal quality and link status of the link signal through comparison data, wherein the comparison data is data generated by comparing abnormal data with normal data.

[0053] The bus switching control module is used to receive control signals from the redundant bus status indication module and the bus control module. When an abnormality occurs in the current EBUS backplane bus communication, it switches to the redundant EBUS backplane bus path to ensure the continuity of the backplane bus communication and achieve the stability and reliability of the operation of the subsequent expansion IO module.

[0054] Among them, the bus switching control module controls the redundant switching of the two bus communication links through the control signal of the bus control module, that is, when the common bus communication link is abnormal, the control switches to the redundant bus communication link, and switches the corresponding bus status and displays the bus abnormal status through the control signal of the redundant bus status indication module.

[0055] refer to Figure 3 As shown, the EBUS backplane bus includes a serial-to-parallel conversion interface module and an EBUS encoding and decoding module, the serial-to-parallel conversion interface module includes an LVDS sending module and an LVDS receiving module, and the EBUS encoding and decoding module includes an EBUS encoding module and an EBUS decoding module;

[0056] The LVDS transmitting module converts parallel data into serial data and outputs it to the subsequent EBUS encoding module for encoding output. The LVDS receiving module converts the serial data decoded by the subsequent EBUS decoding module into parallel data for reception. The EBUS encoding module outputs the EtherCAT serial data packet to be sent through the EBUS interface according to Manchester encoding. The EBUS decoding module outputs the received EBUS data packet to the subsequent serial-to-parallel conversion interface module according to Manchester decoding.

[0057] refer to Figure 4 As shown, the extended IO module communicates with the coupler module through the EBUS backplane bus, each ET1100 chip in the extended IO module includes an EBUS backplane bus, and backplane bus redundancy is achieved through two ET1100 chips, receiving the message sent by the EtherCAT master module to each extended IO module slave, and uploading the response data message to the coupler module through the EtherCAT message;

[0058] The MCU processor of the expansion IO module communicates with the ET1100 chip through the SPI interface. During the process of establishing a connection with the backplane bus, the slave module type is reported, and when the module is working normally, process data is read and written from ET1100 for IO module function implementation, and the working status of the expansion module is reported in real time.

[0059] The expansion IO module uses two ET1100 chips to realize the backplane bus redundancy function, and both communicate with the slave MCU processor through the SPI interface. When the slave MCU processor reads that the ET1100 backplane bus status is abnormal, it switches to another SPI interface to communicate with the redundant ET1100 chip to ensure the stability of communication. The ET1100 chip communicates with the coupler module through the EBUS backplane bus, mainly transmitting EtherCAT protocol data, and reporting the ET1100 chip slave status and EBUS backplane bus status information to the coupler module for redundant bus switching.

[0060] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A redundant high-speed backplane bus communication system based on EBUS, characterized in that: The system includes a coupler module and an extended IO module, wherein the coupler module communicates with the extended IO module via an EBUS backplane bus; The coupler module is used to send EtherCAT protocol data to the extended IO module in the form of EtherCAT messages through the EBUS backplane bus, and is also used to receive response data uploaded by the extended IO module; The extended IO module is used to receive the message sent by the coupler module through the EBUS backplane bus, and upload the corresponding response data to the coupler module in the form of EtherCAT message through the EBUS backplane bus; Among them, the extended IO module includes two EtherCAT controller chips for receiving messages sent by the coupler module and uploading corresponding response data to the coupler module, one of which is used as a common EtherCAT controller chip and the other is used as a redundant EtherCAT controller chip; the EBUS backplane bus is two-way, the coupler module communicates with the common EtherCAT controller chip of the extended IO module through one EBUS backplane bus to form a common bus communication link, and communicates with the redundant EtherCAT controller chip of the extended IO module through another EBUS backplane bus to form a redundant bus communication link; the response data includes status information of the two EtherCAT controller chips and corresponding EBUS backplane bus status information, and the coupler module is also used to determine whether it is necessary to switch from the common bus communication link to the redundant bus communication link based on the status information of the two EtherCAT controller chips and the corresponding EBUS backplane bus status information.

2. The redundant high-speed backplane bus communication system based on EBUS according to claim 1, characterized in that: The coupler module and the extended IO module both include two EBUS backplane buses, one is a common EBUS backplane bus, and the other is a redundant EBUS backplane bus; the common EBUS backplane bus of the coupler module communicates with the common EBUS backplane bus of the extended IO module to form a common bus communication link; the redundant EBUS backplane bus of the coupler module communicates with the slave redundant EBUS backplane bus of the extended IO module to form a redundant bus communication link.

3. The redundant high-speed backplane bus communication system based on EBUS according to claim 1, characterized in that: The system includes multiple expansion IO modules, and the expansion IO modules also include two EBUS backplane buses for communicating with other expansion IO modules. The multiple expansion IO modules communicate with each other through the EBUS backplane buses in sequence; the common EtherCAT controller chips of two expansion IO modules that communicate with each other communicate with each other through one EBUS backplane bus, and the redundant EtherCAT controller chips of two expansion IO modules that communicate with each other communicate with each other through the other EBUS backplane bus. The two EtherCAT controller chips that communicate with each other transmit EtherCAT protocol data, status information of the EtherCAT controller chip and corresponding EBUS backplane bus status information through the EBUS backplane bus.

4. The redundant high-speed backplane bus communication system based on EBUS according to claim 1, characterized in that: The coupler module includes an FPGA chip and an MCU processor. The FPGA chip is used to send EtherCAT protocol data to the extended IO module in the form of EtherCAT messages through the EBUS backplane bus, and receive response data uploaded by the extended IO module to achieve interface redundancy of two EBUS backplane buses. The MCU processor is used to manage the status of the coupler module.

5. The redundant high-speed backplane bus communication system based on EBUS according to claim 4, characterized in that: The FPGA chip includes an EtherCAT IPCore, a redundant control module and an EBUS backplane bus, wherein the EBUS backplane bus includes two EBUS backplane buses, one of which is used as a common EBUS backplane bus and the other is used as a redundant EBUS backplane bus; The EtherCAT IPCore is converted into EtherCAT protocol data through the MII interface and sent to the redundant control module, and is also used to report the communication and bus status of the coupler module to the MCU processor; The redundant control module communicates with the common EtherCAT controller chip through the common EBUS backplane bus to form a common bus communication link, and communicates with the redundant EtherCAT controller chip through the redundant EBUS backplane bus to form a redundant bus communication link; the redundant control module is also used to judge the link status of the common bus communication link and the redundant bus communication link based on the status information of the two EtherCAT controller chips in the response data and the corresponding EBUS backplane bus status information, and based on the link status, judge whether it is necessary to switch from the common bus communication link to the redundant bus communication link.

6. The redundant high-speed backplane bus communication system based on EBUS according to claim 5, characterized in that: The redundant control module includes a bus detection module, a redundant bus status indication module and a bus switching control module; The bus detection module is used to read the response data uploaded by the extended IO module based on the current path bus, judge the working status of the extended IO module and the communication status of the current path bus based on the response data, judge whether it is abnormal, and output the control signal and comparison data to the redundant bus status indication module when an abnormality occurs, and output the valid path indication signal and the switching path flag control signal to the bus switching unit; The redundant bus status indication module is used to receive the control signal and comparison data of the bus detection module, determine the signal quality and link status of the corresponding bus communication link, and output the control signal to the bus switching control module; The bus switching control module is used to control the redundant switching of the two bus communication links through the effective path indication signal and the switching path mark control signal of the bus control module, and to switch the bus status and display the bus abnormal status through the control signal of the redundant bus status indication module.

7. The redundant high-speed backplane bus communication system based on EBUS according to claim 1 is characterized in that ,The EtherCAT controller chip is ET1100 chip.

8. The redundant high-speed backplane bus communication system based on EBUS according to claim 1, characterized in that: The extended IO module also includes a slave MCU processor, each EtherCAT controller chip includes an EBUS backplane bus, each EtherCAT controller chip communicates with the coupler module through the corresponding EBUS backplane bus, the MCU processor communicates with the two EtherCAT controller chips through the SPI interface, obtains the corresponding slave module type information, the status information of the EtherCAT controller chip, the EBUS backplane bus status information of the EtherCAT controller chip and process data from the EtherCAT controller chip, and reports the status information of the two EtherCAT controller chips and the corresponding EBUS backplane bus status information to the coupler module.

9. The redundant high-speed backplane bus communication system based on EBUS according to claim 1, characterized in that: The EBUS backplane bus includes a serial-to-parallel conversion interface module and an EBUS encoding and decoding module, the serial-to-parallel conversion interface module includes an LVDS sending module and an LVDS receiving module, and the EBUS encoding and decoding module includes an EBUS encoding module and an EBUS decoding module; The LVDS sending module is used to convert parallel data into serial data and output it to the EBUS encoding module for encoding and output; The LVDS receiving module is used to convert the serial data decoded by the EBUS decoding module into parallel data for reception.

10. The redundant high-speed backplane bus communication system based on EBUS according to claim 9, characterized in that: The EBUS encoding module outputs the serial data packet through the EBUS interface after Manchester encoding; the EBUS decoding module outputs the received data packet to the LVDS receiving module after Manchester decoding.

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