Method for determining a bus participant arrangement in an automation network and automation network

Abstract

To determine a bus participant arrangement in an automation network, the following steps are performed: outputting a data packet by a control bus participant on a data line, wherein each bus participant records an outgoing path timestamp when receiving the data packet on an outgoing path through one input / output port and records a return path timestamp when receiving the data packet on a return path through another input / output port, correlating the timestamps recorded by each bus participant with each other, wherein a difference quantity is formed between the outgoing path timestamp and the return path timestamp of a bus participant, wherein for a last bus participant which only records a first timestamp, a second timestamp is set equal to the first timestamp and the difference quantities are sorted from a maximum value to a minimum value to learn an installation order of the bus participants as installation lines of the bus participants starting from the control bus participant.

Description

Technical Field

[0001] This invention relates to a method for determining the arrangement of bus participants in an automated network. Background Technology

[0002] This patent application claims priority to German patent application DE 10 2023 131 495.5, the disclosure of which is incorporated herein by reference.

[0003] Fieldbus systems that use Ethernet protocols for message transmission typically operate in the form of control bus participants (central control units or master devices) and slave bus participants or slave units within the devices or machines controlled by the control bus participants. The control bus participant is a central controller with bus access permissions and the ability to output data to the fieldbus. Slave bus participants or slave units in a fieldbus system are field devices, such as input / output devices, drives, and measurement transmitters. They do not have bus access permissions; they can only acknowledge received data and transmit data according to requests from the control bus participant.

[0004] Control bus participants can, for example, form what is called a master device (abbreviated as MDevice), and slave bus participants can, for example, form slave devices (abbreviated as SubDevice). In other words, control bus participants can specify communication behavior for slave bus participants.

[0005] Typically, in automation systems, a programmable logic controller (SPS) cyclically executes a control process to generate output data for these and / or other slave bus participants based on input data from slave bus participants, which are then sent by the control bus participants.

[0006] After the SPS completes a loop control process, the control bus participants send output data via the fieldbus in the form of Ethernet packets or Ethernet frames (also known as Ethernet telegrams). Slave bus participants extract the output data assigned to their respective slave bus participants from the Ethernet packets and use this output data to execute local participant processes. The data learned by the local participant processes is then transmitted by the slave bus participants to the control bus participants, subsequently passed to the SPS as input data for the next loop control process and used by the control bus participants. Here, the slave bus participants write the input data into the Ethernet packets sent by the control bus participants.

[0007] When using the EtherCAT (Ethernet Control Automation Technology) protocol with real-time capabilities in a system of control bus participants and slave bus participants, Ethernet packets embedded with EtherCAT datagrams are processed by the slave bus participants during pass-through. That is, processing occurs in parallel with the continuous reception of data packets. For this purpose, each slave bus participant on the fieldbus is allocated its own data block area within the valid data region of the data packet.

[0008] Besides control bus participant-slave bus participant systems, fieldbus systems can also operate using a provider-consumer model. In this model, each participant—both the control bus participant and the slave bus participant, which are the field devices on the fieldbus—provides data that can be requested by one or more other bus participants. Data provision is periodic. For example, the PROFINET protocol with real-time capabilities uses a provider-consumer model for Ethernet packet exchange, where packets are also formed into Ethernet packets. The data in the valid data area of ​​the Ethernet packet is then used by the consumer bus participant specified in the destination address.

[0009] An automated network typically comprises multiple bus participants, at least one of which is designed as the aforementioned control bus participant (master device), and multiple bus participants are designed as the aforementioned multiple slave bus participants (slave devices). The control bus participant and the multiple slave bus participants are interconnected via at least one data line. The control bus participant can be, for example, software, i.e., a control program, for an industrial computer or industrial control system of equipment or machine.

[0010] Multiple slave bus participants can be connected via at least one data line, for example, by arranging the slave bus participants differently from their installation order. The installation order of the slave bus participants can correspond to the order of the slave bus participants configured in the control program, that is, specifying the order in which the slave bus participants are physically connected to at least one data line.

[0011] However, the physical arrangement of slave bus participants determines their processing order. The processing order is the order in which slave bus participants process control bus participant data packets.

[0012] If the installation and processing order of slave bus participants differs from each other, for example, because one slave bus participant is rotated in direction, i.e., multiple input / output ports of the slave bus participant are reverse-connected to at least one data line, this may cause serious damage to the control process.

[0013] If an automated network has multiple slave bus participants (hereinafter referred to as multiple bus participants), such as at least one robotic arm designed as an industrial robot, intended for direct interaction or collaboration with humans as a so-called "collaborative robot," then when the processing sequence deviates from the installation sequence, the individual bus participants forming the aforementioned multiple bus participants as modules may not be properly controlled for data processing. This can have particularly serious consequences when interacting with humans, posing significant potential dangers that must be avoided. Summary of the Invention

[0014] Therefore, the objective of this invention is to provide an improved method for determining the arrangement of bus participants in an automated network.

[0015] This task is addressed by the independent claims. Further advantageous embodiments of the invention are given in the dependent claims.

[0016] An automated network includes a control bus participant and multiple bus participants interconnected in a ring structure via a data line network having at least one data line, originating from the control bus participant. Each bus participant has at least one first and second input / output port, wherein the first and second input / output ports respectively have a receiving unit for receiving data packets and a transmitting unit for sending data packets. Data connections exist between the receiving unit of the first input / output port and the transmitting unit of the second input / output port, and between the receiving unit of the second input / output port and the transmitting unit of the first input / output port. The data lines have a sending path and a return path for data packets originating from the control bus participant. The sending path for data packets originates from the control bus participant, proceeds to the receiving unit of one input / output port of the first bus participant, extends via the data connection between the receiving unit of one input / output port and the transmitting unit of another input / output port of the first bus participant, proceeds from the transmitting unit of another input / output port of the first bus participant to the receiving unit of one input / output port of the next bus participant, and continues via the next bus participant... The data connection between the receiving unit of one input / output port and the transmitting unit of another input / output port of the next bus participant extends, and continues from the transmitting unit of another input / output port of the next bus participant. If other bus participants are connected via data lines at the other input / output port, the data is guided to the last bus participant, whose other input / output port is not connected to any bus participant via data lines. In the last bus participant, data packets are guided from the sending path to the return path, which extends via the data connection between the receiving unit of the other input / output port and the transmitting unit of one input / output port of the last bus participant. From the transmitting unit of one input / output port of the last bus participant, the data is guided to the receiving unit of another input / output port of the previous bus participant, and from the transmitting unit of one input / output port of the previous bus participant, via other previous bus participants, to the control bus participant. To determine the bus participant arrangement in this automation network, the following steps are performed:

[0017] A data packet is output on the data line by a control bus participant. Each bus participant records a transmission path timestamp when it receives the data packet on the transmission path through one input / output port, and a return path timestamp when it receives the data packet on the return path through another input / output port.

[0018] The timestamps recorded by each bus participant are correlated, wherein a difference is formed between the outgoing path timestamp and the return path timestamp of the bus participant. For the last bus participant that only recorded a first timestamp, the second timestamp is set to be equal to the first timestamp.

[0019] The difference values ​​are sorted from maximum to minimum to determine the installation order of bus participants, starting from the control bus participants as the installation line of the bus participants.

[0020] Each bus participant may have a processing unit arranged in the data connection between the receiving unit of the first input / output port and the transmitting unit of the second input / output port for processing data packets, wherein, in the calculation of the difference between the transmit path timestamp and the return path timestamp of the bus participant, a first value is the timestamp assigned to the first input / output port and a second value is the timestamp assigned to the second input / output port, and wherein, the sign of the difference between the timestamp assigned to the first input / output port and the timestamp assigned to the second input / output port is evaluated to determine the processing order of the bus participants within the installation order of the bus participants.

[0021] The processing units in the bus participants can process data packets during the pass-through process, and the EtherCAT transport protocol is used as the communication protocol in the automated network.

[0022] The timestamps in the bus participants can be recorded using the clock function of the bus participants, whereby the clock function provides the local system time for the bus participants.

[0023] At least one bus participant may have additional second input / output ports with a receiving unit for receiving data packets and a transmitting unit for sending data packets. These additional second input / output ports are arranged in the data connection between the receiving unit of the second input / output port and the transmitting unit of the first input / output port. The receiving unit of the second input / output port is connected to the transmitting unit of the other second input / output port, and the receiving unit of the other second input / output port is connected to the transmitting unit of the first input / output port. Other bus participants can be connected to the ring structure via a data line network from these additional second input / output ports. The path for sending data packets... The path starts from the transmitting unit of another second input / output port, leads to the receiving unit of one input / output port of another bus participant, extends via the data connection between the receiving unit of one input / output port and the transmitting unit of another input / output port of the other bus participant, leads from the transmitting unit of another input / output port of the first bus participant to the receiving unit of one input / output port of the next bus participant, extends via the data connection between the receiving unit of one input / output port and the transmitting unit of another input / output port of the next bus participant, and continues from the transmitting unit of another input / output port of the next bus participant, if the other input / output port... If an input / output port is connected to another bus participant via a data cable, the data is guided to the last bus participant. The last bus participant's other input / output port is not connected to any other bus participant via a data cable. In the last bus participant, data packets are guided from the sending path to the return path. The return path extends via the data connection between the receiving unit of the last bus participant's other input / output port and the sending unit of the last bus participant's one input / output port, is guided from the sending unit of the last bus participant's one input / output port to the receiving unit of the previous bus participant's other input / output port, and then via the previous bus participant... The data connection between the receiving unit of another input / output port and the transmitting unit of one input / output port of the previous bus participant extends and is guided from the transmitting unit of one input / output port of the previous bus participant through other previous bus participants to the receiving unit of other second input / output ports. The difference between the transmit path timestamp and return path timestamp of the bus participant is sorted from the maximum to the minimum value to determine the installation order of the bus participants from the control bus participant. For bus participants connected to other second input / output ports, they are sorted separately from other bus participants to determine other installation lines of the bus participants from other second input / output ports.

[0024] Timestamps can be stored separately in the storage units of each bus participant. The bus participant can read the storage units of the bus participants by sending other data packets to obtain the recorded timestamps and the installation order of the bus participants.

[0025] A method is proposed for determining the installation order of bus participants in an automated network, wherein the automated network comprises multiple bus participants, each having multiple input / output ports. The method includes the following steps:

[0026] In the first step, data packets are provided to multiple bus participants.

[0027] Multiple bus participants are interconnected via a data line network with at least one data line, which forms the sending and / or returning path for data packets.

[0028] In the second step, data packets are received on the sending path through the first or second input / output port of the bus participant, and the first timestamp of that bus participant is recorded.

[0029] The first input / output port and / or the second input / output port are connected to at least one data line, and the first timestamp of the bus participant is designed to assign a unique time point as the reception of a data packet through the first input / output port.

[0030] In the third step, a data packet is output to another bus participant on the output path via the second input / output port or the first input / output port of the bus participant.

[0031] In the fourth step, data packets are received on the outgoing path through the first input / output port of another bus participant, and the first timestamp of that other bus participant is recorded.

[0032] The first timestamp of the other bus participant is designed to assign a unique time point as the reception of a data packet through the first input / output port of the other bus participant.

[0033] In the fifth step, data packets are received on the return path via at least one data line through the second input / output port of the bus participant, and the second timestamp of the bus participant is recorded.

[0034] The second timestamp of the bus participant is designed to assign a unique time point as the reception of a data packet through the second input / output port of the bus participant.

[0035] In the sixth step, data packets are output on the return path via the first input / output port of the bus participant, and

[0036] In the seventh step, the first and second timestamps of the bus participants are correlated to determine the order of the multiple bus participants.

[0037] Furthermore, a method for controlling multiple bus participants in an automated network is proposed. This method for controlling multiple bus participants includes the following steps:

[0038] In the first step, multiple bus participants are provided in the automation network.

[0039] In the second step, a method for determining the installation order of multiple bus participants in the automated network, based on the above and / or the following characteristics, is executed to assign the processing order, i.e., the order in which multiple bus participants process data packets, to the installation order, i.e., the order in which multiple bus participants are physically connected to at least one data line, and

[0040] In the third step, multiple bus participants are controlled in the automation network based on the installation order of the bus participants determined in the second step.

[0041] Furthermore, a bus participant for an automation network is proposed, particularly designed as a master device, i.e., a control bus participant for controlling and coordinating slave devices, i.e., slave bus participants. This bus participant, particularly designed as a master device, is designed to execute methods for determining the installation order of multiple bus participants in the automation network according to the above and / or the following characteristics, and / or methods for controlling multiple bus participants in the automation network according to the above characteristics.

[0042] Furthermore, a bus participant for automated networks is proposed, specifically designed as a slave device, i.e., a slave bus participant that can be controlled by a master device, i.e., controlled by a control bus participant. This bus participant, specifically designed as a slave device, has multiple input / output ports. A first input / output port and / or a second input / output port are each connected to at least one data line to receive data packets on the outgoing path via the first or second input / output port of the bus participant, and to output data packets to another bus participant on the outgoing path via the second or first input / output port, via at least one data line. The bus participant is designed to record a first timestamp when it receives a data packet via the first input / output port. This first timestamp is designed to assign a unique time point to the reception of a data packet via the first input / output port of the bus participant as an event. The bus participant is designed to record a second timestamp when it receives a data packet via the data line of the data packet via the second input / output port. The second timestamp of the bus participant is designed to assign a unique time point as an event to the reception of a data packet through the second input / output port of the bus participant. The bus participant is designed to output data packets on the return path through either the first input / output port or the second input / output port via at least one data line.

[0043] Finally, an automated network is proposed. This automated network includes multiple bus participants interconnected via at least one data line. At least one of the multiple bus participants is designed according to the above-described characteristics, specifically designed as a master device, i.e., acting as a control bus participant to control and coordinate subordinate devices, i.e., slave bus participants. At least one of the multiple bus participants is designed according to the above and / or the following characteristics, specifically as a slave device, i.e., as a slave bus participant, and can be controlled by the master device, i.e., controlled by the control bus participant.

[0044] The new idea is to use the existing clock function of the bus participants to record at least one first timestamp when a data packet is received through the first input / output port of the bus participant, and a second timestamp when a data packet is received through the second input / output port of the bus participant.

[0045] Based on at least the first and second timestamps of the recorded bus participants, the physical connection order of the bus participants on at least one data line can be determined by applying the proposed method and related apparatus for determining the installation order of the bus participants. The processing order of data packets by the bus participants can be assigned to the determined installation order.

[0046] If the processing order and installation order of the bus participants are consistent, the bus participant can have a first arrangement, where the first arrangement indicates that the data packet first passes through the first input / output port of the bus participant on the outgoing path. That is, in the first arrangement, the first input / output port of the bus participant faces the control bus participant. It can be understood that the data packet first passes through the second input / output port of the bus participant with the first arrangement on the return path. Mathematically, the difference between the reception time of the data packet at the second input / output port and the reception time of the data packet at the first input / output port is calculated, and its sign is evaluated. That is, the reception time of the second timestamp of the data packet received through the second input / output port is subtracted from the reception time of the first timestamp of the data packet received through the first input / output port. The reception time or second timestamp of the data packet at the second input / output port of the bus participant is greater than the reception time or first timestamp of the data packet at the first input / output port of the bus participant.

[0047] If the installation order and processing order differ from each other, the bus participant can have a second arrangement, where the second arrangement indicates that the data packet first passes through the second input / output port of the bus participant on the outgoing path. That is, in the second arrangement, the second input / output port of the bus participant faces the control bus participant. It can be understood that the data packet first passes through the first input / output port of the bus participant with the second arrangement on the return path. Mathematically, the difference between the reception time of the data packet at the second input / output port and the reception time of the data packet at the first input / output port is calculated, and its sign is evaluated. That is, the reception time of the first timestamp of the data packet received through the second input / output port minus the reception time of the data packet received through the first input / output port. The reception time or first timestamp of the data packet at the second input / output port of the bus participant with the second arrangement is less than the reception time or second timestamp of the data packet at the first input / output port of the bus participant.

[0048] The proposed method and apparatus are advantageously applicable to all automation networks and bus participants, all of which have data packets passing through on both the sending and returning paths. The sending and returning paths can be formed by separate data lines. However, it is preferable to design the automation network to use the EtherCAT transport protocol as the communication protocol.

[0049] When an automated network is designed, for example, as at least one robotic arm—that is, as a collaborative robot for interacting with humans—this concept helps improve the safety of the automated network. This is because, based on the proposed method, it is irrelevant whether the bus participants have a first or second arrangement, as the installation order of the bus participants can be recorded, and the processing order can be assigned to the recorded installation order. It does not require changing the installation order of the bus participants already determined in the control program. Instead, the installation order of the bus participants reliably remains unchanged. This method for identifying the installation order of bus participants is advantageous not only for maintenance purposes but also generally allows for the simple determination of the bus participant arrangement.

[0050] In another embodiment, the recording of the first and second timestamps can be performed based on the clock function of the bus participant. This clock function provides the bus participant with a local system time and can be designed as a hardware-implemented local clock. In particular, the processing unit of a bus participant designed as a slave bus participant (slave device) can, for example, have a hardware-implemented local clock, such as one with a 64-bit range and a resolution of 1 bit = 1 nanosecond.

[0051] This allows for the use of known and mature technologies. In automated networks, such as those employing the real-time EtherCAT transport protocol, the local clock function is known as a "distributed clock" and represents a logical union of distributed clocks, enabling the local clock times of all bus participants to be synchronized to the same time.

[0052] Slave bus participants supporting the "distributed clock function" have their own clocks, which initially operate locally based on their own timers (such as quartz crystals, oscillators, etc.) after being enabled. One of the multiple bus participants in the automation network is selected as the reference clock, and the clocks of other slave bus participants, as well as the control bus participant's own clocks, are synchronized with it. Therefore, the reference clock represents the system time.

[0053] The adjustment and synchronization of each clock is performed automatically and continuously by the control bus participant, if the participant supports "distributed clocking," such as the TwinCAT EtherCAT master from Befair. To this end, the EtherCAT master sends a special EtherCAT datagram at short intervals, into which EtherCAT slave devices with a reference clock write their current clock time. These short intervals are set so frequently that the clocks of the slave bus participants do not drift within a specified range. All other EtherCAT slave devices, each with its own slave clock, then read this information from the same cyclic datagram.

[0054] If the reference clock is ahead of all other slave device clocks in the topology, it is possible in a ring structure of an EtherCAT automation network. The ring structure here refers to the first data line, which forms the outgoing path for cyclic Ethernet packets containing EtherCAT datagrams, and the second data line, which forms the return path for Ethernet packets, where the slave devices are interconnected via the first and second data lines. Therefore, by default, the first slave device supporting a “distributed clock” is selected as the reference clock by the EtherCAT control bus participants.

[0055] In summary, one of the EtherCAT slave devices has a reference clock, and all other EtherCAT bus participants, including the EtherCAT master device, are slave clocks. The distributed clock function allows for precise timestamping of input events, which can be latched or equipped with latch signals, and can generate synchronous output signals (synchronization signals).

[0056] However, the proposed method for recording the installation sequence and the proposed automation network involving multiple bus participants do not use the synchronous distributed clock function described above. Instead, they utilize the fact that bus participants have clock functionality, i.e., they have local clocks. These local clocks are used to record the first and second timestamps, and the third and fourth timestamps when a bus participant has more than two input / output ports; that is, each bus participant latches its own reception time. It is understood that this feature is not limited to automation networks using the EtherCAT transmission protocol but can also be implemented in other automation networks.

[0057] In another embodiment of the method for determining the installation order of bus participants, the at least one data line is designed as a transmit path data line and a return path data line, each connected to a first and second input / output port of one of the plurality of bus participants. The transmit path data line forms the transmit path for data packets, and the return path data line forms the return path for data packets. A processing unit is arranged between the first and second input / output ports of the bus participant. This processing unit is specifically connected to the transmit path data line on the transmit path of the data packets. The bus participant is designed to record a first timestamp when receiving data packets through the first input / output port and the transmit path data line, and to forward the data packets to the processing unit, specifically through the transmit path data line.

[0058] The processing unit is designed to process data packets during a pass-through, i.e., in parallel with the continuous reception of data packets through the first input / output port, and specifically designed to forward data packets to the second input / output port of a bus participant via the outgoing path data line. The bus participant is designed to output data packets through the second input / output port to another bus participant connected via the outgoing path data line. The bus participant is also designed to record a second timestamp when receiving data packets via the return path data line and to output data packets on the return path via the first input / output port and the return path data line.

[0059] Preferably, the automation network uses the EtherCAT transport protocol to leverage mature technology. In the bus participants designed as EtherCAT slave devices, handling EtherCAT communication and, in particular, the "distributed clock" function is undertaken by a processing unit, preferably designed as an EtherCAT slave device controller (ESC), i.e., an electronic component (chip), which can be implemented as an ASIC or programmable FPGA, etc. Each EtherCAT slave device contains such a processing unit designed as an ESC so that cyclic and non-cyclic process data can be exchanged between the master and slave devices via the EtherCAT fieldbus, i.e., via, for example, the first and second data lines. The ESC can also, for example, manage port information, providing information about the number of input / output ports of the slave device. Therefore, the ESC manages the local "distributed clock" function, i.e., a hardware-implemented local clock with a range of 64 bits (less commonly 32 bits) and a resolution of 1 bit = 1 nanosecond, and related operations, if the EtherCAT slave device supports this function.

[0060] In another embodiment of the method for determining the installation sequence, the interrelation in the seventh step includes calculating the difference between a second timestamp of a data packet received at a second input / output port of a bus participant and a first timestamp of a data packet received at a first input / output port. This advantageously allows for the use of simple mathematics or operations and reduces computational workload. This can improve performance and yield results quickly.

[0061] In the first arrangement, generally if a bus participant's second input / output port is not connected to any other bus participant, then the bus participant's second timestamp is set to be equal to its first timestamp; that is, the second timestamp corresponds to the first timestamp. It can be understood that, similarly, this also applies to the second arrangement of bus participants. For such bus participants, the above-described difference calculation can be performed without any problems, and the aforementioned advantages apply accordingly.

[0062] In another embodiment of the method for determining the installation order, the difference determined in step seven is evaluated by examining the sign. If the sign is positive, the bus participants are arranged such that the processing order matches the installation order. The installation order is the order in which bus participants are physically connected to at least one data line, and the processing order indicates the order in which bus participants process data packets. Alternatively, if the sign is negative, the bus participants are arranged such that the processing order and the installation order are different from each other.

[0063] The processing order of bus participants can be easily determined by examining the signs of the differences calculated in step seven. The installation order of bus participants can be easily determined by calculating the absolute values ​​of the differences and sorting them.

[0064] In another embodiment of the method for determining the installation order, the seventh step further includes calculating the absolute value of the determined difference for each bus participant, thereby determining the installation order of the bus participants. The calculated absolute values ​​are sorted, specifically in ascending order, for multiple bus participants. Here, the smaller the absolute value of the determined difference, the further the corresponding bus participant was from the bus participant providing the data packet in the first step.

[0065] The installation order of bus participants can be easily determined by sorting the absolute values. Larger absolute values ​​indicate that the bus participant is closer to the control bus participant. Smaller absolute values ​​indicate greater distance. The processing order can be determined by examining the sign of the differences calculated in step seven. This advantageously allows for the use of simple mathematics or operations and reduces computational workload. This improves performance and yields results quickly.

[0066] In another embodiment of the method for determining the installation order, multiple bus participants may be arranged individually or in groups as modules of multiple bus participants.

[0067] Advantageously, the method for determining the installation order of bus participants does not require a specific bus participant arrangement, because the proposed method can identify intentional exchanges of individual bus participants as well as entire modules consisting of groups of multiple bus participants. Therefore, the proposed method and related apparatus can be used flexibly.

[0068] In another embodiment of the automated network, the automated network has multiple bus participants, each comprising multiple movable axes, of at least one robotic arm designed as an industrial robot. Each of the multiple movable axes of the at least one robotic arm is designed as a single bus participant, and their installation order can be determined using a method for determining the installation order of the multiple bus participants according to the features described above and / or below, and / or controlled according to the installation order of the multiple bus participants using a method for controlling the multiple bus participants according to the features described above. The installation order indicates the sequence in which the multiple bus participants are physically connected to at least one data line.

[0069] In this way, the security of automated networks can be advantageously improved, especially when the automated network is designed as at least one robotic arm, acting as a collaborative robot. This is because, based on the proposed method and apparatus, for example, the individual axes of the at least one robotic arm can be reliably controlled, or generally the bus participants or modules can be reliably controlled, regardless of whether the multiple bus participants comprise a first arrangement or a second arrangement.

[0070] In another embodiment of the automation network, multiple bus participants can be grouped into modules of multiple bus participants and arranged accordingly. These modules, in particular, form workbenches.

[0071] In this way, the security of automated networks can be advantageously improved, especially when the modules of the automated network are designed as workbenches. This is because, based on the proposed method and apparatus, modules consisting of multiple bus participants, such as workbenches, can be reliably controlled, or bus participants can generally be reliably controlled.

[0072] In another embodiment of the method for determining the installation sequence and of the bus participants, a processing unit is arranged between the first input / output port and the second input / output port of the bus participant. This processing unit is specifically connected to a transmission path data line on the data packet transmission path. The bus participant is designed to record a first timestamp when receiving a data packet via the first input / output port and the first data line, and specifically to forward the data packet to the processing unit via the transmission path data line. The processing unit is designed to process data packets during a pass-through, i.e., in parallel with the continuous reception of data packets via the first input / output port, and is specifically designed to forward data packets to the second input / output port of the bus participant via the transmission path data line. The bus participant is designed to output data packets via the second input / output port to another bus participant connected via the second input / output port via the first line. The bus participant is designed to record a second timestamp when receiving a data packet via the return path data line, and to output data packets on the return path via the first input / output port and the return path data line.

[0073] If a data packet passes through a processing unit on the outgoing path, the packet processing is performed by the bus participant's processing unit during the pass-through process on the outgoing path. In this case, the bus participant has a first arrangement. If the bus participant has a second arrangement, the data packet only passes through the processing unit on the return path, and the packet processing is performed by the processing unit on the return path. This thus improves the traceability and transparency of the automated network, including all bus participants.

[0074] In another embodiment of the method for determining the installation sequence, the bus participant and another bus participant connected via at least one data line through a first or second input / output port of the bus participant form a first line. If the bus participant has a third input / output port, at least one first other bus participant is connected to that port via at least one other data line. The at least one first other bus participant connected via the third input / output port of the bus participant via at least one other data line forms a second line. This at least one other data line forms the data packet transmission path and / or return path.

[0075] The proposed method and apparatus are advantageous because they are not limited to designs with a specific number of bus participants, but can be flexibly used for various configurations. This facilitates compatibility and improves clarity and traceability when grouping bus devices connected via input / output ports into different lines. Here, each bus participant on a line can be logged as needed. Furthermore, a separate data packet can be output for each line by the control bus participant.

[0076] In another embodiment of the proposed method and the proposed bus participant, if the bus participant receives a data packet through a first input / output port, the bus participant is designed to record a first timestamp and output the data packet on the outgoing path via a first line, so that bus participants on the first line can record the first timestamp and / or the second timestamp. The bus participant is designed to output a data packet on the outgoing path via a third input / output port on a second line when receiving a data packet on the return path via a second input / output port on the first line, so that at least one first other bus participant on the second line can record the first timestamp and / or the second timestamp. If the bus participant receives a data packet on the return path of the second line via a third input / output port, the bus participant is designed to record a third timestamp and output the data packet on the return path via the first line via a first input / output port.

[0077] If a bus participant has a second arrangement, then if the bus participant receives a data packet through the second input / output port, the bus participant is designed to record a second timestamp and output the data packet on the outgoing path via the second line through the third input / output port, so that at least one first other bus participant on the second line can record the first timestamp and / or the second timestamp. When receiving a data packet on the return path via the second line through the bus participant's third input / output port, the bus participant is designed to record a third timestamp and output the data packet on the outgoing path via the first input / output port to the first line. The bus participants on the first line can then record the first timestamp and / or the second timestamp. If a bus participant receives a data packet on the return path via the first input / output port on the first line, the bus participant is designed to record the first timestamp and output the data packet on the return path via the first line through the second input / output port.

[0078] Advantageously, a third timestamp can be recorded using the same principle as the first and second timestamps. However, the third timestamp is not involved in the difference calculation used to identify bus participants in step seven above. This is because the third timestamp is recorded only when a data packet is received on the return path through the third input / output port of the bus participant, and not when a separate timestamp is recorded when a data packet is received on the outgoing path through the third input / output port. It has already been recorded as the second timestamp when a data packet is received through the second input / output port of the bus participant. Therefore, the internal forwarding of data packets to the corresponding port is not involved in the difference calculation in step seven above.

[0079] In another embodiment of the method for determining the installation sequence, if a bus participant has a third input / output port and a fourth input / output port, each connected to at least one other bus participant via at least one additional data line, then the bus participant and the other bus participant connected via the first input / output port of the bus participant via at least one data line form a first line. At least one first other bus participant connected via the third input / output port of the bus participant via at least one first additional data line forms a second line. At least one second other bus participant connected via the fourth input / output port of the bus participant via at least one second additional data line forms a third line. The at least one first additional data line forms the data packet sending path and / or return path. The at least one second additional data line forms the data packet sending path and / or return path.

[0080] The proposed method and apparatus are advantageous because they are not limited to designs with a specific number of bus participants, but can be flexibly used in various configurations. This facilitates compatibility and improves clarity and traceability when grouping bus devices connected via input / output ports into different lines. Here, each bus participant on a line can be logged as needed. Furthermore, a separate data packet can be output for each line by the control bus participant.

[0081] In another embodiment of the method for determining the installation order of bus participants, the bus participant includes a third input / output port and a fourth input / output port, each of which is connected to at least one other bus participant via at least one other data line.

[0082] The bus participant and another bus participant connected via a first input / output port or a second input / output port of the bus participant through at least one data line form a first line. At least one first other bus participant connected via a third input / output port through at least one first other data line forms a second line. At least one second other bus participant connected via a fourth input / output port of the bus participant through at least one second other data line forms a third line. A processing unit is arranged between the first input / output port and the third input / output port of the bus participant. The processing unit is connected to the transmit path data line on the data packet transmit path. If the bus participant receives a data packet through the first input / output port, the bus participant is designed to record a first timestamp and, in particular, forward the data packet to the processing unit via the transmit path data line. The processing unit is designed to process the data packet during a pass-through, i.e., in parallel with the continuous reception of data packets through the first input / output port, and is particularly designed to forward the data packet to the fourth input / output port via the transmit path data line, and output the data packet on the transmit path of the third line through the fourth input / output port, so that at least one second other bus participant on the third line can record the first timestamp and / or the second timestamp. The bus participant is designed to record a fourth timestamp when receiving a data packet on the return path via a fourth input / output port through a fourth line, and to output a data packet on the outgoing path via a second input / output port through a second input / output port, so that bus participants on the first line can record a first timestamp and / or a second timestamp. The bus participant is also designed to record a second timestamp if it receives a data packet via a second input / output port, and to output a data packet on the outgoing path via a third input / output port through a third input / output port to at least one first other bus participant on the second line, so that at least one first other bus participant on the second line can record a first timestamp and / or a second timestamp. Finally, the bus participant is designed to record a third timestamp if it receives a data packet on the return path via a third input / output port through a third input / output port through a first input / output port through the first line.

[0083] If a bus participant with four input / output ports has a second arrangement, then if the bus participant receives a data packet through the second input / output port, the bus participant is designed to record a second timestamp and output the data packet through the third input / output port on the output path via the second line, so that at least one first other bus participant on the second line can record the first timestamp and / or the second timestamp. Here, the data packet does not pass through the processing unit on the output path, but on the return path, so the processing unit processes the data packet on the return path. When a data packet is received through the third input / output port of the bus participant on the return path via the second line, the bus participant records a third timestamp and outputs the data packet through the first input / output port to the first line on the output path, so that the bus participants on the first line can record the first timestamp and / or the second timestamp. If the bus participant receives a data packet through the first input / output port, the bus participant records the first timestamp and outputs the data packet through the fourth input / output port to at least one second other bus participant on the output path on the third line, so that at least one second other bus participant on the third line can record the first timestamp and / or the second timestamp. If a bus participant receives a data packet on the return path of the third line via the fourth input / output port, then the bus participant is designed to record a fourth timestamp and output the data packet on the return path via the first line via the second input / output port.

[0084] Advantageously, the third and fourth timestamps can be recorded using the same principle as the first and second timestamps. However, the third and fourth timestamps are not included in the difference calculation used to identify bus participants in step seven above. This is because the third timestamp is recorded only when a data packet is received on the return path via the bus participant's third input / output port. Similarly, the fourth timestamp is recorded only when a data packet is received on the return path via the fourth input / output port. If the bus participant has a second arrangement, i.e., the data packet only passes through the processing unit on the return path, then the processing of the data packet is performed by the processing unit on the return path. This thus improves the traceability and transparency of the automated network, including all bus participants.

[0085] In another embodiment of the method for determining the installation order, separate data packets may be output for the first line and / or the second line and / or the third line.

[0086] This helps improve traceability and transparency.

[0087] In the method for determining the installation order of bus participants and in another embodiment of the bus participants, the first to fourth timestamps may each be stored in the storage unit of the bus participant, particularly in the register unit.

[0088] Bus participants may include storage units, particularly register units, which can be accessed by the bus participant's processing unit. Furthermore, it is conceivable that the bus participant's processing unit itself contains the storage unit. Controlling the bus participant can, for example, read the bus participant's storage unit by sending another data packet to obtain a recorded timestamp and, based on this, execute the seventh step of the method for determining the order of the bus participants.

[0089] In the method for determining the installation order of bus participants and in another embodiment of the proposed bus participants, another data packet is output to multiple bus participants to read the storage units, specifically register units, of the multiple bus participants, which contain the first to fourth timestamps of the multiple bus participants, and based on this, the first timestamp of the bus participant and the second timestamp of the bus participant are correlated with each other.

[0090] This helps improve traceability and transparency.

[0091] In another embodiment of the method for determining the installation order of bus participants, a second step of the method for determining the installation order further includes processing data packets if the bus participants are arranged such that the processing order of the bus participants is consistent with the installation order of the bus participants.

[0092] Advantageously, if the corresponding bus participant is addressed, the bus participant can write or read, for example, data related to the control cycle, in the second step of the above method.

[0093] In another embodiment of the method, the processing order of multiple bus participants is recorded by reading a first data field and / or a second data field and / or a third data field of the identified object and / or port information. The identified object forms a communication object containing multiple data fields for identifying the bus participant. For example, the identified object of the bus participant can be stored in the bus participant's storage unit and can be read by the control bus participant outputting data packets to the bus participant, so that the control bus participant can identify the number of input / output ports of the bus participant and the bus participant itself. The first data field of the identified object is designed as the product code of the bus participant, the second data field is designed as the version number of the bus participant, and the third data field is designed as the manufacturer code of the bus participant. The port information indicates how many input / output ports the bus participant contains.

[0094] Each bus participant in an automated network can be identified independently of the network's hierarchy using a so-called bus participant identification object (or "Identity Object") for different transmission protocols and access methods. This identification object forms a communication object and may contain one or more data fields for identifying the bus participant. The first data field of the identification object can be designed as the bus participant's product code, the second data field as the bus participant's version number, and the third data field as the bus participant's manufacturer ID. Additionally, a fourth data field can be a serial number. Each of the first to fourth data fields can contain a UINT32 value. The version number may, for example, contain a first data word ("Lo-Word", bits 0-15) and a second data word ("Hi-Word", bits 16-31). Attached Figure Description

[0095] The above-mentioned features, characteristics, advantages, and implementation methods will be more clearly understood in conjunction with the following description of the embodiments and corresponding schematic diagrams. Wherein:

[0096] Figure 1 This is a schematic diagram of a method for determining the order of participants in an automated network bus according to the first embodiment;

[0097] Figure 2 yes Figure 1 A schematic diagram of a segment of the method;

[0098] Figure 3 This is a schematic diagram of a method for determining the order of participants in an automated network bus according to a second embodiment;

[0099] Figure 4 This is a schematic diagram of a method for determining the order of participants in an automated network bus according to a third embodiment;

[0100] Figure 5 This is a schematic diagram of a method for determining the order of participants in an automated network bus according to the fourth embodiment;

[0101] Figure 6 This is a schematic diagram of a method for determining the order of participants in an automated network bus according to the fifth embodiment;

[0102] Figure 7 This is a schematic diagram of a method for controlling multiple bus participants in an automated network;

[0103] Figure 8 This is a schematic diagram of a bus participant for an automated network according to the first embodiment;

[0104] Figure 9 This is a schematic diagram of bus participants for an automated network according to the second embodiment;

[0105] Figure 10 This is a schematic diagram of a bus participant for an automated network according to a third embodiment;

[0106] Figure 11 This is a schematic diagram of an automation network according to the first embodiment;

[0107] Figure 12 This is a schematic diagram of an automation network according to the second embodiment;

[0108] Figure 13a This is a first schematic diagram of an automation network according to the third embodiment;

[0109] Figure 13b yes Figure 13a A second schematic diagram of the automation network in the third embodiment;

[0110] Figure 14a This is a first schematic diagram of an automation network according to the fourth embodiment;

[0111] Figure 14b This is a second schematic diagram of an automation network according to the fourth embodiment;

[0112] Figure 15a This is a first schematic diagram of an automation network according to the fifth embodiment;

[0113] Figure 15b This is a second schematic diagram of an automation network according to the fifth embodiment;

[0114] Figure 16a This is a first schematic diagram of an automation network according to the sixth embodiment;

[0115] Figure 16b This is a second schematic diagram of an automation network according to the sixth embodiment;

[0116] Figure 17a This is a schematic diagram of the first timeline recording timestamps; and

[0117] Figure 17b This is a schematic diagram of the second timeline that records timestamps. Detailed Implementation

[0118] It should be noted that the accompanying drawings are schematic only and not drawn to scale. Therefore, for better understanding, components and elements shown in the drawings may be exaggerated or reduced in size. Furthermore, it should be noted that when referring to components and / or parts of the same or similar design, the reference numerals in the drawings remain unchanged or use similar selections.

[0119] The term "master device" (MDevice) should be understood as a "control bus participant" designed to control and coordinate "slave devices" in an automation network. Therefore, the "master device" forms the central controller / master unit of the devices or machines in the automation network, undertaking the control and coordination of slave bus participants. "Master device" and "control bus participant" can be understood as synonyms.

[0120] The term "slave device" (or simply "subDevice") should be understood as a participant in the bus that can be controlled by the "master device," i.e., by the "control bus participant." Controllability also includes configuration. Therefore, a "slave device" is a subordinate unit in a device or machine that can be controlled by the master device. The "slave device" processes data packets, such as Ethernet packets, sent by the "master device" and performs the tasks contained within those packets. Simultaneously, the "slave device" forwards data packets during pass-through processes.

[0121] "Control process" refers to the general, cyclically executed control operations of an automated network.

[0122] The "first arrangement" of a bus participant indicates that data packets first pass through the first input / output port of that bus participant on the outgoing path. In other words, in the first arrangement, the first input / output port of the bus participant faces the control bus participant. It can be understood that data packets first pass through the second input / output port of the bus participant with the first arrangement on the return path.

[0123] The "second arrangement" of a bus participant indicates that data packets first pass through the second input / output port of that bus participant on the outgoing path. In other words, in the second arrangement, the second input / output port of the bus participant faces the control bus participant. It can be understood that data packets first pass through the first input / output port of the bus participant with the second arrangement on the return path.

[0124] The "installation order" of multiple bus participants specifies the order in which multiple bus participants are physically connected to at least one data line. Data packets pass through multiple bus participants according to the installation order.

[0125] The "processing order" of multiple bus participants specifies the order in which they process data packets, i.e., reading, writing, etc. For a given bus participant, the processing order may differ from the installation order, for example, when that participant has a second arrangement. If a bus participant has a first arrangement, its processing order can be consistent with its installation order.

[0126] The "first timestamp" assigns a unique point in time to the reception of a data packet via at least one data line through the first input / output port of a bus participant. This unique point in time is considered in the method used to determine the installation order of the participants in the automated network bus. If a bus participant has a second arrangement, it can receive data packets through the second input / output port, and the second timestamp of receiving the data packet through the second input / output port is recorded first.

[0127] The "second timestamp" assigns a unique point in time to the reception of a data packet via at least one data line through the second input / output port of a bus participant. This unique point in time is considered in the method used to determine the order of participants in an automated network bus. This at least one data line can be designed as a separate outgoing path data line and a separate return path data line, where the outgoing path data line forms, for example, the outgoing path of the data packet, and the return path data line forms, for example, the return path of the data packet. In the first arrangement, generally if there are no other connected bus participants at the second input / output port of a bus participant, the second timestamp is set to be equivalent to the first timestamp; that is, the second timestamp corresponds to the first timestamp. It can be understood that, similarly, this also applies to the second arrangement.

[0128] The "third timestamp" assigns a unique point in time to the reception of a data packet on the data packet return path via the third input / output port of the bus participant.

[0129] The "fourth timestamp" assigns a unique point in time to the reception of a data packet on the data packet return path via the fourth input / output port of the bus participant.

[0130] The new concept involves using the existing clock functionality of bus participants to record at least one first timestamp when a data packet is received through a first input / output port of the bus participant, and a second timestamp when a data packet is received through a second input / output port of the bus participant. If the bus participant has a second arrangement, the existing clock functionality is used to first record the second timestamp when a data packet is received through the second input / output port of the bus participant, and the first timestamp when a data packet is received through the first input / output port of the bus participant on the data packet return path. This clock functionality provides the bus participant with a local system time and can be designed as a local clock implemented in hardware within the bus participant, for example, with a 64-bit range and a resolution of 1 bit = 1 nanosecond.

[0131] Based on at least the first and second timestamps recorded, the installation order of bus participants—that is, the order in which bus participants connect to at least one data line and are traversed by data packets—can be determined by applying the proposed method and related apparatus for determining the installation order of bus participants. The processing order, i.e., the order in which bus participants process data packets, can be assigned to the installation order.

[0132] The installation order of bus participants can be easily determined by examining the signs of the differences formed when applying the method used to determine the installation order of bus participants, and by sorting the absolute values ​​of these differences. Here, the larger the absolute value, the closer the bus participant is to the control bus participant; the smaller the absolute value, the farther away they are.

[0133] If the processing order and installation order of bus participants are consistent, then the bus participant can have a first arrangement, wherein the first arrangement indicates that data packets first pass through the first input / output port of the bus participant on the outgoing path. That is, in the first arrangement, the first input / output port of the bus participant faces the control bus participant. It can be understood that data packets first pass through the second input / output port of the bus participant with the first arrangement on the return path.

[0134] Mathematically, the difference between the reception time of the data packet at the second input / output port of the bus participant and the reception time of the data packet at the first input / output port of the bus participant is calculated, and its sign is evaluated. That is, the second timestamp of the data packet received through the second input / output port of the bus participant minus the first timestamp of the data packet received through the first input / output port of the bus participant. If the reception time or second timestamp of the data packet at the second input / output port of the bus participant with the first arrangement is greater than the reception time or first timestamp of the data packet at the first input / output port of that bus participant, the sign is positive in this case, indicating that the bus participant has the first arrangement.

[0135] If the installation order and processing order are different from each other, the bus participant can have a second arrangement, wherein the second arrangement indicates that the data packet first passes through the second input / output port of the bus participant on the outgoing path. That is, in the second arrangement, the second input / output port of the bus participant faces the control bus participant. It can be understood that the data packet first passes through the first input / output port of the bus participant with the second arrangement on the return path.

[0136] Mathematically, the sign of the data packet received at the second input / output port of a bus participant is calculated by subtracting the time it was received at the first input / output port of that bus participant. That is, the second timestamp of a bus participant with a second arrangement receiving a data packet through the second input / output port is subtracted from the first timestamp of receiving the data packet through the first input / output port. If the time of reception of the data packet at the second input / output port of a bus participant with a second arrangement, or the second timestamp, is less than the time of reception of the data packet at the first input / output port of that bus participant, or the first timestamp, the sign is negative in this case, indicating that the bus participant has a second arrangement.

[0137] The proposed method and apparatus are advantageously applicable to all automation networks and bus participants, all of which have data packets passing through on both the sending and returning paths. The sending and returning paths can be formed by separate data lines. However, it is preferable to design the automation network to use the EtherCAT transport protocol as the communication protocol.

[0138] The following will combine Figure 1 , 8 The numbers 9 and 11 are described. Figure 1 A schematic diagram of a method 100 for determining the installation order of bus participants 1115, 1120, 1125, 1130, 1135 of an automation network 1100, according to a first embodiment, is shown. Figure 8 A schematic diagram showing the structure of the bus participant 800 of the automation network 1100 according to the first embodiment is shown. Figure 9 A schematic diagram showing the structure of a bus participant 900 according to a second embodiment is provided for, for example, an automation network 1100 according to a first embodiment. Figure 11 A schematic diagram of an automation network 1100 according to a first embodiment is shown.

[0139] According to the automation network 1100 of the first embodiment, in Figure 11The system includes a plurality of bus participants 1105 of an automation network according to the first embodiment, which are interconnected via at least one data line 820. The data line 820 may be designed as a physical cable. At least one of the plurality of bus participants 1105 of the automation network according to the first embodiment is designed as a master device, i.e., a control bus participant of the automation network 1110 according to the first embodiment, for controlling and coordinating subordinate devices, i.e., subordinate bus participants.

[0140] According to the first embodiment, the control bus participants of the automation network 1110 are designed to perform a method 100 for determining the installation order of multiple bus participants 1105 of the automation network 1100, as described in the following figures, and / or according to... Figure 7 A method 700 for controlling multiple bus participants 1105 of an automation network 1100 according to a first embodiment.

[0141] According to the automation network 1100 of the first embodiment, in Figure 11 In addition to the first control bus participant 1110, it also has the first to the fifth bus participants 1115, 1120, 1125, 1130, and 1135.

[0142] The first to fifth bus participants, 1115, 1120, 1125, 1130, and 1135, can also be referred to as the first to fifth bus participants, 1115, 1120, 1125, 1130, and 1135. The specific characteristics of the first to fifth bus participants, 1115, 1120, 1125, 1130, and 1135, can be based on... Figure 8 The structure of the bus participant 800 in the first embodiment and according to Figure 9 The structure of the bus participant 900 in the second embodiment. The first to the fifth bus participants 1115, 1120, 1125, 1130, and 1135 are each designed as slave devices, i.e., slave bus participants, which can be controlled by the first control bus participant 1110. Figure 11 Thus, a first embodiment of the automation network 1100 is shown, wherein the first plurality of bus participants 1105 are each designed as a first first to a first fifth bus participant 1115, 1120, 1125, 1130, 1135 arranged separately.

[0143] if Figure 11 The first through fifth bus participants, 1115, 1120, 1125, 1130, and 1135, each have [a certain characteristic / condition] based on [the specific criteria / condition]. Figure 8In the structure of the bus participant 800 according to the first embodiment, the first to fifth bus participants 1115, 1120, 1125, 1130, and 1135 each include a first plurality of input / output ports 805. The first input / output port P0 and the second input / output port P1 among the first plurality of input / output ports 805 are each connected to at least one data line 820. Therefore, the bus participant 800 according to the first embodiment, for example... Figure 11 The first input / output port P0 of the first bus participant 1115 receives data packets on the outgoing path 825 via at least one data line 820.

[0144] It can also be achieved through bus participant 800 according to the first embodiment, for example... Figure 11 The second input / output port P1 of the first bus participant 1115 outputs data packets to another bus participant via data line 820 on the output path 825, for example... Figure 11 The first and second bus participants 1120. According to the first embodiment, bus participant 800, for example... Figure 11 The first bus participant 1115 is designed to record a first timestamp T1 when it receives a data packet through the first input / output port P0 of the bus participant 800 according to the first embodiment. The first timestamp T1 of the bus participant 800 (i.e., the first bus participant 1115) according to the first embodiment is designed to assign a unique time point as an event to the reception of a data packet on the outgoing path 825 through the first input / output port P0 of the bus participant 800 (i.e., the first bus participant 1115) according to the first embodiment.

[0145] According to the first embodiment 800, the bus participant 800, namely the first bus participant 1115 of the automation network 1100 according to the first embodiment, is designed to record a second timestamp T2 when receiving a data packet via the second input / output port P1 on the data packet return path via data line 820. The second timestamp T2 of the bus participant 800, namely the first bus participant 1115, according to the first embodiment 800, is designed to assign a unique time point as an event to the reception of the data packet via the second input / output port P1 of the bus participant 800 according to the first embodiment on the return path 830. According to the first embodiment, the bus participant 800, for example... Figure 11 The first bus participant 1115 is designed to be connected via at least one data line 820 through the first input / output port P0 on the return path 830. Figure 11 The first control bus participant 1110 outputs data packets.

[0146] pass Figure 8 In the first embodiment, the reception of data packets on the transmitting path 825 by the first input / output port P0 of the bus participant 800 is performed by means of a receiving unit RX. The receiving unit RX can form a so-called receiver (receiver) and is designed to receive data packets via data line 820. It is understood that each of the first plurality of input / output ports 805 of the bus participant 800 according to the first embodiment has a receiving unit RX for receiving data packets. Figure 8 In the first embodiment, the transmission of data packets on the transmission path 825 by the second input / output port P1 of the bus participant 800 is performed by means of the transmission unit TX. The transmission unit TX can form a so-called transceiver (transmitter) and is designed to transmit data packets via data line 820.

[0147] It is understood that each of the first plurality of input / output ports 805 of the bus participant 800 according to the first embodiment has a transmission unit TX for transmitting data packets. Figure 11 In the first embodiment, the receiving unit RX and transmitting unit TX of the input / output port of the bus participant 800 are not shown for the first to fifth bus participants 1115, 1120, 1125, 1130, and 1135. This is only for clarity and is not intended to be limiting.

[0148] But Figure 11 Before the first bus participant 1115 receives a data packet on the return path 830 through its second input / output port P1, it outputs a data packet to the first second bus participant 1120 on the outgoing path 825 via data line 820 through its second input / output port P1. Then, the first second bus participant 1120 processes the data packet similarly to the above description, recording a first timestamp T1 when receiving the data packet on the outgoing path 825 via data line 820 through its first input / output port P0, and outputting the data packet to the first third bus participant 1125 through its second input / output port P1 on the outgoing path 825 via data line 820.

[0149] The first and third bus participants 1125 will also record the first timestamp T1 when receiving data packets via data line 820 on the sending path 825 through their first input / output port P0, and will also output data packets to the first and fourth bus participants 1130 via data line 820 on the sending path 825 through their second input / output port P1. Similarly, the first and fourth bus participants 1130 will also record the first timestamp T1 when receiving data packets via data line 820 on the sending path 825 through their first input / output port P0, and will also output data packets to the first and fifth bus participants 1135 via data line 820 on the sending path 825 through their second input / output port P1.

[0150] Since the first and fifth bus participants 1135 are the last bus participants in the formation sequence, and the second input / output port P1 of the first and fifth bus participants 1135 is not connected to other bus participants via data line 820, the first and fifth bus participants 1135 will record the first timestamp T1 when receiving data packets via data line 820 on the outgoing path 825 through the first input / output port P0 of the first and fifth bus participants 1135, and will output data packets to the first and fourth bus participants 1130 via data line 820 on the return path 830 through the first input / output port P0.

[0151] The first and fourth bus participants 1130 record a second timestamp T2 when receiving data packets via data line 820 on the return path 830 through the second input / output port P1, and output data packets to the first and third bus participants 1125 via data line 820 on the return path 830 through the first input / output port P0. The first and third bus participants 1125 also record a second timestamp T2 when receiving data packets via data line 820 on the return path 830 through the second input / output port P1, and output data packets to the first and second bus participants 1120 via data line 820 on the return path 830 through the first input / output port P0.

[0152] The first and second bus participants 1120 will record a second timestamp T2 when receiving data packets via data line 820 on the return path 830 through the second input / output port P1, and will output data packets to the first bus participant 1115 via data line 820 on the return path 830 through the first input / output port P0 of the first and second bus participants 1120.

[0153] Understandable, if Figure 11 Depending on the arrangement of bus participants in the automation network 1100 according to the first embodiment, for example, if the second input / output port P1 of the first and second bus participants 1120 is not connected to the first and third bus participants 1125 via data line 820, then after recording the first timestamp T1, the data packet will be directly output from the first and second bus participants 1120 to the first bus participant 1115 via data line 820 on the return path 830 through the first input / output port P0. Therefore, Figure 11 The arrangement of the first to fifth bus participants 1115, 1120, 1125, 1130, and 1135 is exemplary.

[0154] The recording of the first timestamp T1 and the second timestamp T2 can each be based on the clock function of the bus participant 800 according to the first embodiment or the bus participant 900 according to the second embodiment. This will be further explained below. Figure 9 According to the second embodiment, the bus participant 900 can be similar to Figure 8 The bus participant 800 according to the first embodiment has a second plurality of input / output ports 905. Figure 9 According to the second embodiment, the bus participant 900 can, for example, be associated with the processing unit 945. Figure 8 The bus participant 800 according to the first embodiment is different. If the bus participant 900 according to the second embodiment has a first arrangement 1710, then the processing unit 945 of the bus participant 900 according to the second embodiment is connected to the second transmission path data line 935 on the data packet transmission path 825.

[0155] Otherwise, when the bus participant 900 according to the second embodiment has the second arrangement 1720, the processing unit 945 is connected to the second return path data line 940 on the data packet return path 830. The second outgoing path data line 935 and the second return path data line 940 form separate data lines, i.e., separate physical cables. If a data packet passes through the processing unit 945 of the bus participant 900 according to the second embodiment via the second return path data line 940 on the return path 830, the data packet is processed on the return path 830, which is the opposite of the case where it passes through the processing unit 945 via the second outgoing path data line 935 on the outgoing path 825, provided that the bus participant 900 according to the second embodiment is addressed to read data from the data packet and / or write data to the data packet.

[0156] According to the second embodiment, the bus participant 900 is also designed to record a first timestamp T1 when receiving a data packet on the data packet transmission path 825 via the first input / output port P0 and the second transmission path data line 935, and to forward the data packet to the processing unit 945 via the second transmission path data line 935, for example... Figure 11 The first bus participant 1115 in the automation network 1100 according to the first embodiment. The processing unit 945 of the bus participant 900 according to the second embodiment is designed to process data packets during a pass-through, i.e., to continuously receive data packets through the first input / output port P0, and is designed to forward data packets to the second input / output port P1 of the bus participant 900 according to the second embodiment via the second outgoing path data line 935. The bus participant 900 according to the second embodiment is designed to output data packets through the second input / output port P1 to another bus participant connected through the second input / output port P1 via the second outgoing path data line 935 on the outgoing path 825, for example to... Figure 11 The first and second bus participants in the process are 1120.

[0157] According to the bus participant 900 of the second embodiment, i.e., for example Figure 11 The first bus participant 1115 is designed to record a second timestamp T2 when receiving data packets on the return path 830 via the second input / output port P1 and the second return path data line 940, and to output data packets to the first control bus participant 1110 via the first input / output port P0 and the second return path data line 940 on the return path 830. When the structure of the bus participant 900 according to the second embodiment is... Figure 11 When the automated network 1100 according to the first embodiment works in coordination, the records of the first and second timestamps T1 and T2 for the first to fifth bus participants 1115, 1120, 1125, 1130, and 1135 are similar to the scenario described above. Figure 8 The situation described below is based on the structure of the bus participant 800 according to the first embodiment.

[0158] If, according to the second embodiment, bus participant 900 or Figure 11 The first through fifth bus participants, 1115, 1120, 1125, 1130, and 1135, are designed to communicate using the EtherCAT transport protocol. Figure 9 In the second embodiment, the processing unit 945 of the bus participant 900 is preferably designed as an EtherCAT slave device controller (ESC).

[0159] According to the second embodiment, the processing unit 945 of the bus participant 900 may, for example, have a hardware-implemented local clock 950, for example, with a range of 64 bits and a resolution of 1 bit = 1 nanosecond, so as to be able to record the first and second timestamps T1, T2. However, the hardware-implemented local clock 950 in Figure 9 The figures shown are for illustrative purposes only. It will be understood that bus participants in subsequent figures may also have processing units that include a hardware-implemented local clock 950. If processing unit 945 is an ESC as described above, then that ESC has a local clock 950.

[0160] However, for clarity reasons, the first and second timestamps T1 and T2 are... Figure 11 It is not shown in the text.

[0161] Understandable, if Figure 11 The first through fifth bus participants 1115, 1120, 1125, 1130, and 1135 have according to Figure 9 The structure of the bus participant 900 in the second embodiment, then Figure 11 The data cable 820 in the middle can also have according to Figure 9 The separate second output path data line 935 and the separate second return path data line 940, which are in Figure 11 Not shown in the image.

[0162] The bus participant 900 according to the second embodiment may include a storage unit 955, particularly a register unit, which can be accessed by the processing unit 945 of the bus participant 900 according to the second embodiment. Furthermore, it is conceivable that the processing unit 945 of the bus participant 900 according to the second embodiment itself includes the storage unit (not shown). The first and second timestamps T1, T2 may each be stored in the storage unit 955, particularly the register unit, of the bus participant 800 (not shown) according to the first embodiment or the bus participant 900 according to the second embodiment.

[0163] The first control bus participant 1110 may, for example, read the storage unit 955 of the bus participant 800 according to the first embodiment or the bus participant 900 according to the second embodiment by sending another data packet to obtain the first and second timestamps T1, T2, and perform the seventh step 135 of the method 100 according to the first embodiment, which will also be described below, to know the installation order of the bus participants 1115, 1120, 1125, 1130, 1135 of the automation network 1100 according to the first embodiment.

[0164] Figure 1The method 100 according to the first embodiment includes, in its first step 105, providing data packets to a first plurality of bus participants 1105 of the automation network 1100 according to the first embodiment. This is performed, for example, by a first control bus participant 1105. The second step 110 of the method 100 according to the first embodiment includes receiving data packets on the outgoing path 825 through a first input / output port P0 of either bus participant 800 according to the first embodiment or bus participant 900 according to the second embodiment, i.e., the first to first fifth bus participants 1115, 1120, 1125, 1130, 1135 of the automation network 1100 according to the first embodiment, and recording a first timestamp T1 of either bus participant 800 according to the first embodiment or bus participant 900 according to the second embodiment, i.e., the first to first fifth bus participants 1115, 1120, 1125, 1130, 1135 of the automation network 1100 according to the first embodiment.

[0165] In the third step 115 of the method 100 according to the first embodiment, a data packet is output to another bus participant on the outgoing path 825 via the second input / output port P1 of the bus participant 800 according to the first embodiment or the bus participant 900 according to the second embodiment, namely the first to the fifth bus participants 1115, 1120, 1125, 1130, 1135. In the fourth step 120 of the method 100 according to the first embodiment, a data packet is received on the outgoing path 825 via the first input / output port P0 of the other bus participant, and the first timestamp T1 of the other bus participant is recorded.

[0166] In intermediate step 123 of method 100 according to the first embodiment, a check can be performed to determine whether the second input / output port P1 of the other bus participant is not connected to any other bus participant. This check can be performed, for example, by reading the port information of the other bus participant, wherein the processing unit of the other bus participant can, for example, manage the port information. If the check in intermediate step 123 indicates that the second input / output port P1 of the other bus participant is still connected to another bus participant, i.e. Figure 1 If the n-branch in the first embodiment is returned to the third step 115 of the method 100 described above according to the first embodiment, then the method 100 of the first embodiment is returned to the third step 115 described above.

[0167] If, in the intermediate step 123 of the method 100 according to the first embodiment, also referred to as branch point 123, the check result indicates that the second input / output port P1 of the other bus participant is not connected to any other bus participant, i.e. Figure 1In the j branch, the fifth step 125 of the method 100 according to the first embodiment is executed. It can be understood that in... Figure 1 Another branch point can be inserted between the second and third steps 110 and 115 of the method 100 according to the first embodiment, checking whether the second input / output port of the bus participant is not occupied by other bus participants. This is similar to branch 123 of the method 100 according to the first embodiment, but it is different. Figure 1 Not shown in the image.

[0168] The fifth step 125 of the method 100 according to the first embodiment includes receiving data packets on the return path 830 via at least one data line 820 through the second input / output port P1 of the bus participant 800 according to the first embodiment or the bus participant 900 according to the second embodiment, namely the first to the fifth bus participants 1115, 1120, 1125, 1130, 1135, and recording a second timestamp T2 of the bus participant 800 according to the first embodiment or the bus participant 900 according to the second embodiment, namely the first to the fifth bus participants 1115, 1120, 1125, 1130, 1135.

[0169] The sixth step 130 of the method 100 according to the first embodiment includes outputting a data packet on the return path 830 through the first input / output port P0 of the first bus participant 800 according to the first embodiment or the bus participant 900 according to the second embodiment, namely the first to the first fifth bus participants 1115, 1120, 1125, 1130, 1135. The first control bus participant 1110 can use another data packet to read all the first and second timestamps T1, T2 stored in the storage unit 955 of the first to the first fifth bus participants 1115, 1120, 1125, 1130, 1135, and then execute the seventh step 135 of the method 100 according to the first embodiment.

[0170] Finally, the seventh step 135 as described above includes associating the first timestamp T1 and the second timestamp T2 of the bus participant 800 according to the first embodiment or the bus participant 900 according to the second embodiment, namely the first to the fifth bus participants 1115, 1120, 1125, 1130, 1135, so as to know the installation order of the first plurality of bus participants 1105.

[0171] If the processing order and installation order of the first to fifth bus participants 1115, 1120, 1125, 1130, and 1135 are consistent, then the first to fifth bus participants 1115, 1120, 1125, 1130, and 1135 have a first arrangement 1710. The reception time or second timestamp T2 of the data packet at the second input / output port P1 of one of the first to fifth bus participants 1115, 1120, 1125, 1130, and 1135 is greater than the reception time or first timestamp T1 of the data packet at the first input / output port P0 of that first to fifth bus participant 1115, 1120, 1125, 1130, and 1135.

[0172] If the installation and processing sequences of the first through fifth bus participants 1115, 1120, 1125, 1130, and 1135 are different from each other, then each of the first through fifth bus participants 1115, 1120, 1125, 1130, and 1135 has a second arrangement 1720. The second arrangement 1720 is in... Figure 11 Not displayed. Figure 11 The diagram shows the first arrangement 1710 for each of the first to fifth bus participants 1115, 1120, 1125, 1130, and 1135. The reception time or second timestamp T2 of the data packet at the second input / output port P1 of the first to fifth bus participants 1115, 1120, 1125, 1130, and 1135 in either the bus participant 800 of the first embodiment or the bus participant 900 of the second embodiment, having a second arrangement, is less than the reception time or first timestamp T1 of the data packet at the first input / output port P0 of the first to fifth bus participants 1115, 1120, 1125, 1130, and 1135 in either the bus participant 800 of the first embodiment or the bus participant 900 of the second embodiment.

[0173] In the first arrangement, generally if a bus participant's second input / output port P1 is not connected to any other bus participant, then the bus participant's second timestamp T2 is set to be equivalent to the bus participant's first timestamp T1, that is, the second timestamp T2 corresponds to the first timestamp T1. It can be understood that, similarly, this also applies to the second arrangement of bus participants.

[0174] The relationship between the first and second timestamps T1 and T2 will be explained below. Figure 2 To explain in more detail.

[0175] It is understood that the method 100 described according to the first embodiment can also be applied to the following drawings, and Figure 8 The structure of the bus participant 800 according to the first embodiment, or Figure 9 In the structure of bus participant 900 according to the second embodiment.

[0176] Figure 2 Showing Figure 1 A schematic diagram of a segment 200 of the method 100 according to the first embodiment is shown below. Figure 1 Detailed illustration of the seventh step 135 of the method 100 according to the first embodiment. The interrelationships in the seventh step 135 of the method 100 according to the first embodiment are... Figure 2 The first intermediate step 205 includes calculating the difference between the second timestamp T2 of the data packet received by the second input / output port P1 of the bus participant 800 according to the first embodiment or the bus participant 900 according to the second embodiment, namely the first to the first fifth bus participants 1115, 1120, 1125, 1130, 1135, and the first timestamp T1 of the data packet received by the first input / output port P0.

[0177] exist Figure 2 In the second intermediate step 210 of segment 200, the difference obtained in the first intermediate step 205 of the seventh step 135 of the method 100 according to the first embodiment is evaluated by examining the sign of the difference. If the sign is positive, the bus participants having the structure of bus participant 800 according to the first embodiment or bus participant 900 according to the second embodiment, i.e., the first to the first fifth bus participants 1115, 1120, 1125, 1130, 1135, have a first arrangement 1710. If the sign is negative, the bus participants having the structure of bus participant 800 according to the first embodiment or bus participant 900 according to the second embodiment, i.e., the first to the first fifth bus participants 1115, 1120, 1125, 1130, 1135, have a second arrangement 1720.

[0178] for Figure 1 The seventh step 135 of the method 100 according to the first embodiment Figure 2The third intermediate step 215 includes calculating the absolute value of the known difference for each bus participant 800 according to the first embodiment or bus participant 900 according to the second embodiment, i.e., the first to the fifth bus participants 1115, 1120, 1125, 1130, 1135, using a mathematical absolute value function, for example, taking the absolute value or by |x|=sqrt(x^2), where x represents the known difference. The calculated absolute values ​​are sorted for the first plurality of bus participants 1105, for example, in ascending (or descending) order, to determine the installation order of the first plurality of bus participants 1105. Here, the smaller the absolute value of the known difference, the further the bus participant 800 according to the first embodiment or the bus participant 900 according to the second embodiment, i.e., the first to the fifth bus participants 1115, 1120, 1125, 1130, 1135, is from the bus participant providing the data packet in the first step 105 of the method 100 according to the first embodiment. Figure 11 The first control bus participant 1110 in the middle, the farther away.

[0179] exist Figure 11 In the example, if the difference between the second timestamp T2 and the first timestamp T1 of the first to fifth bus participants 1115, 1120, 1125, 1130, and 1135 is positive, then applying the method 100 according to the first embodiment can determine that the installation order and processing order of the first to fifth bus participants 1115, 1120, 1125, 1130, and 1135 are consistent. That is, each of the first to fifth bus participants 1115, 1120, 1125, 1130, and 1135 has a first arrangement 1710.

[0180] The following will combine Figure 12 , 13a 13b, 17a and 17b are described. Figure 12 A schematic diagram of an automation network 1200 according to a second embodiment is shown. Figure 13a A first schematic diagram of an automation network 1300 according to a third embodiment is shown. Figure 13b Showing according to Figure 13a The second schematic diagram of the automation network 1300 in the third embodiment. Figure 17a Showing the use of Figure 12 A schematic diagram of a timestamped first timeline 1700 of the automated network 1200 according to the second embodiment is shown below. Figure 17b Showing the use of Figure 13a A schematic diagram of a timestamped second timeline 1705 of an automated network 1300 according to the third embodiment in section b.

[0181] Figure 12 The automation network 1200 according to the second embodiment has a second plurality of bus participants 1205, and Figure 11 Unlike the automation network 1100 of the first embodiment, it is designed as the second robotic arm 1201 of an industrial robot. Figure 12 In addition to the second control bus participant 1210, the automation network 1200 according to the second embodiment also has second first to second ninth bus participants 1215, 1220, 1225, 1230, 1235, 1240, 1245, 1250, and 1255. The second first to second ninth bus participants 1215, 1220, 1225, 1230, 1235, 1240, 1245, 1250, and 1255 can also be referred to as first to ninth bus participants 1215, 1220, 1225, 1230, 1235, 1240, 1245, 1250, and 1255.

[0182] The second robotic arm 1201 includes a second plurality of movable axes 1202. Each of the second plurality of movable axes 1202 of the second robotic arm 1201 is designed as a single bus participant. Specifically, the second robotic arm 1201 includes a second first bus participant 1215, which is designed, for example, as a base for the second robotic arm 1201. A second second bus participant 1220 is designed, for example, as a first axis. A second third bus participant 1225 is designed, for example, as a second axis. A second fourth bus participant 1230 is designed, for example, as a first connecting element.

[0183] The second and fifth bus participants 1235 are designed, for example, as the third axis. The second and sixth bus participants 1240 are designed, for example, as the fourth axis. The second and seventh bus participants 1245 are designed, for example, as the second connecting element. The second and eighth bus participants 1250 are designed, for example, as the fifth axis, and the second and ninth bus participants 1255 are designed, for example, as the sixth axis.

[0184] Furthermore, the automation network 1200 according to the second embodiment includes a second control bus participant 1210, which is designed to provide information to the method 100 for learning the installation sequence according to the first embodiment. Figure 2 The method 100 according to the first embodiment provides a data packet in segment 200. During the execution of the method 100 and its segment 200 according to the first embodiment, the process by which the second plurality of bus participants 1205 receive data packets is similar to the above description, except that... Figure 12The second bus participant 1220 and the third bus participant 1225 each have a second arrangement 1720. That is, the second bus participant 1220 and the third bus participant 1225 each receive data packets via data line 820 on the output path through a second input / output port P1, instead of... Figure 12 The other second, first, second fourth to second ninth bus participants 1215, 1230, 1235, 1240, 1245, 1250, 1255, etc., pass through the first input / output port P0.

[0185] For Figure 12 The automation network 1200 according to the second embodiment Figure 17a The first timeline 1700 includes the first through seventeenth timestamps t1 to t17, which are listed in more detail in Table 1 below:

[0186] Table 1

[0187] First Timeline 1700 timestamp Bus participants (input / output ports) of the automation network 1200 according to the second embodiment t1 The second and first bus participant is 1215 (P0). t2 Second bus participant 1220 (P1) t3 The second and third bus participants, 1225 (P1), t4 The second and fourth bus participants are 1230 (P0). t5 The second and fifth bus participants are 1235 (P0). t6 The second and sixth bus participants are 1240 (P0). t7 The second and seventh bus participant, 1245 (P0). t8 The second and eighth bus participants, 1250 (P0). t9 The second and ninth bus participant, 1255 (P0). t10 The second and eighth bus participants, 1250 (P1), t11 The second and seventh bus participant, 1245 (P1). t12 The second and sixth bus participant, 1240 (P1). t13 The second and fifth bus participants, 1235 (P1), t14 The second and fourth bus participants, 1230 (P1), t15 The second and third bus participants are 1225 (P0). t16 Second bus participant 1220 (P0) t17 The second and first bus participant, 1215 (P1),

[0188] For better clarity, Figure 17a The timestamps of the first timeline 1700 are numbered consecutively. However, the first to the seventeenth timestamps t1-t17 of the first timeline 1700 are respectively the first and second timestamps T1 and T2 mentioned above, which are recorded by the second first to the second ninth bus participants 1215, 1220, 1225, 1230, 1235, 1240, 1245, 1250, and 1255.

[0189] For example, the timestamp t1 of the first timeline 1700 for the second first bus participant 1215 to receive data packets through its first input / output port P0 corresponds to the first timestamp T1 of the second first bus participant 1215. This is because the second first bus participant 1215 has a first arrangement 1710.

[0190] For example, the timestamp t2 of the first timeline 1700 for the second bus participant 1220 to receive data packets through its second input / output port P1 corresponds to the second timestamp T2 of the second bus participant 1215. This is because the second bus participant 1220 has a second arrangement 1720. The remaining third to seventeenth timestamps t3-t17 of the first timeline 1700 according to the first embodiment can be similarly assigned. Details will not be elaborated here.

[0191] Figure 12The processing order of the second multiple bus participants 1205 can be as follows: the second first bus participant 1205, with the first bit 21 of the processing order; the second fourth bus participant 1230, with the second bit 22 of the processing order; the second fifth bus participant 1235, with the third bit 23 of the processing order; the second sixth bus participant 1240, with the fourth bit 24 of the processing order; the second seventh bus participant 1245, with the fifth bit 25 of the processing order; the second eighth bus participant 1250, with the sixth bit 26 of the processing order; the second ninth bus participant 1255, with the seventh bit 27 of the processing order; the second third bus participant 1225, with the eighth bit 28 of the processing order; and the second second bus participant 1220, with the ninth bit 29 of the processing order.

[0192] When applying the first to third intermediate steps 205 to 215 of segment 200 of method 100 according to the first embodiment to perform the seventh step 135 of method 100 according to the first embodiment, Figure 12 The second control bus participant 1210 can be determined to have a negative sign for t2 – t16 (the reception time of the second input / output port P1 minus the reception time of the first input / output port P0) for the second bus participant 1220, and for t3 – t15 (the reception time of the second input / output port P1 minus the reception time of the first input / output port P0). This is consistent with calculating the reception time of the second input / output port P1, i.e., the second timestamp T2 of the corresponding bus participant, minus the reception time of the first input / output port P0, i.e., the first timestamp T1 of the corresponding bus participant. Based on the sign of the difference, it can be determined that the second and third bus participants 1220 and 1225 have a second arrangement 1720, and the remaining bus participants of the automation network 1200 according to the second embodiment have a first arrangement 1710.

[0193] The second control bus participant 1210 can obtain the first to ninth bits 1-9 of the installation order of the first to ninth bus participants 1215, 1220, 1225, 1230, 1235, 1240, 1245, 1250, 1255 by calculating the absolute value of the difference between the timestamps t1-t17 of the first timeline 1700, or the timestamps T1, T2 of the bus participants in the automation network 1200 according to the second embodiment, and sorting the absolute values. This corresponds to Figure 2The third intermediate step 215. The larger the absolute value, the closer the corresponding second first to second ninth bus participants 1215, 1220, 1225, 1230, 1235, 1240, 1245, 1250, and 1255 are to the second control bus participant 1210. The smaller the absolute value, the farther apart the second first to second ninth bus participants 1215, 1220, 1225, 1230, 1235, 1240, 1245, 1250, and 1255 are located.

[0194] The control program can be identified based on the first to ninth bits 21-29 of the processing order of the second first to second ninth bus participants 1215, 1220, 1225, 1230, 1235, 1240, 1245, 1250, 1255 and the first to ninth bits 1-9 of the installation order. For example, a movable axis must rotate to the right or left to perform a predetermined movement of the robot in space.

[0195] Understandable. Figure 12 The data line 820 in the middle can also include a separate outgoing path data line and a separate return path data line, but they are not shown for clarity.

[0196] Figure 13a Figures b and c illustrate an automation network 1300 according to a third embodiment, which has a third plurality of bus participants 1305, these bus participants being grouped into multiple bus participants arranged in third first to third third modules 1301, 1302, 1303. For example, the third first to third third modules 1301, 1302, 1303 each form a workstation, and each workstation contains three bus participants. The third first to third third modules 1301, 1302, 1303 may also be referred to as first to third modules 1301, 1302, 1303. Figure 13a The first to ninth bits 1-9 of the installation order of the third to third ninth bus participants 1315, 1320, 1325, 1330, 1335, 1340, 1345, 1350, 1355, and the third control bus participant 1310 are shown. The third to third ninth bus participants 1315, 1320, 1325, 1330, 1335, 1340, 1345, 1350, 1355 can also be referred to as the first to ninth bus participants 1315, 1320, 1325, 1330, 1335, 1340, 1345, 1350, 1355.

[0197] Figure 13bThis illustrates a possible scenario where the third second module 1302 has a second arrangement 1720, and therefore the third fourth to third sixth bus participants 1330, 1335, and 1340 each have a second arrangement 1720 and receive data packets via a second input / output port P1 on the outgoing path. Therefore, the first to ninth bits 21-29 of the processing order of the third first to third ninth bus participants 1315, 1320, 1325, 1330, 1335, 1340, 1345, 1350, and 1355 will be based on the third first module 1301, the third third module 1303, and finally the third second module 1302.

[0198] Therefore, for Figure 12 The description is applicable in a similar form. Figure 13b .

[0199] For Figure 13b The automation network 1300 according to the third embodiment Figure 17b The second timeline 1705 includes the first through seventeenth timestamps t1 to t17, which are listed in more detail in Table 2 below:

[0200] Table 2

[0201] The second timeline's 1705 timestamp Bus participants (input / output ports) of the automation network 1300 according to the third embodiment t1 The third and first bus participant, 1315 (P0). t2 The third and second bus participant, 1320 (P0), t3 The third bus participant, 1325 (P0), t4 The third and sixth bus participant, 1340 (P1). t5 The third and fifth bus participant, 1335 (P1). t6 The third and fourth bus participants, 1330 (P1), t7 The third and seventh bus participant, 1345 (P0). t8 The third and eighth bus participants, 1350 (P0). t9 The third and ninth bus participant, 1355 (P0). t10 The third and eighth bus participants, 1350 (P1). t11 The third and seventh bus participant, 1345 (P1). t12 The third and fourth bus participants, 1330 (P0), t13 The third and fifth bus participants, 1335 (P0), t14 The third and sixth bus participants, 1340 (P0). t15 The third bus participant, 1325 (P1), t16 The third and second bus participant, 1320 (P1), t17 The third and first bus participant, 1315 (P1)

[0202] For the first to seventeenth timestamps t1 to t17 of the second time axis 1705, the descriptions given in Table 1 regarding the first and second timestamps T1 and T2 of the bus participants are similarly applicable to Table 2. Figure 13a Similarly, data line 820 in b can also contain a separate outgoing path data line and a separate return path data line.

[0203] The following will combine Figure 3 and 15a Describe it. Figure 3 A schematic diagram of a method 300 for determining the installation order of participants in an automated network bus according to a second embodiment is shown. Figure 15a A first schematic diagram of an automation network 1500 according to a fifth embodiment is shown.

[0204] Figure 15a The automation network 1500 according to the fifth embodiment and Figure 13aThe difference between the automation network according to the third embodiment in b is that the fifth second module 1502 includes a bus participant, such as the fifth bus participant 1535, which has three input / output ports P0, P1, and P2, wherein the fifth tenth bus participant 1560 is connected to the third input / output port P2 of the fifth bus participant 1535 via another data line 1504.

[0205] Data line 820 and another data line 1504 can each be designed as separate outgoing path data lines and separate return path data lines (not shown). It is understood that the design of the fifth bus participant 1535 is exemplary, and the other fifth first to fifth fourth bus participants 1515, 1520, 1525, 1530, and the fifth sixth to fifth tenth bus participants 1540, 1545, 1550, 1555, 1560 can be designed similarly. Therefore, the method 300 for determining the installation order of automation network bus participants according to the second embodiment is not limited to the fifth bus participant 1535. The bus participants in the preceding figures may also include more than two input / output ports P0, P1.

[0206] Therefore, relative to Figure 13a and b, Figure 15a The installation order (bits 1 to 10) and processing order (bits 21 to 30) of the fifth to fifth tenth bus participants (1515, 1520, 1525, 1530, 1535, 1540, 1545, 1550, 1555, 1560) vary. The fifth to fifth tenth bus participants (1515, 1520, 1525, 1530, 1535, 1540, 1545, 1550, 1555, 1560) can also be referred to as the first to tenth bus participants (1515, 1520, 1525, 1530, 1535, 1540, 1545, 1550, 1555, 1560).

[0207] Figure 3 The method 300 for determining the installation order of participants in an automated network bus according to the second embodiment includes providing a data packet in the first step 305 of the method 300 according to the second embodiment, similar to the first step 105 of the method 100 according to the first embodiment. Figure 3 In intermediate step 307 of method 300 according to the second embodiment, the corresponding bus participants are checked, for example... Figure 15a Does the fifth bus participant, 1535, have a third input / output port, P2? This could be similar to... Figure 1The process is carried out according to the description of branch point 123 of method 100 in the first embodiment. If the bus participant does not have a third input / output port P2, i.e., the nth branch of branch point 307 according to method 300 in the second embodiment, then according to... Figure 3 The method 300 of the second embodiment enters Figure 1 The second to seventh method steps 110 to 135 of the method 100 according to the first embodiment.

[0208] If a bus participant has a third input / output port P2, i.e., branch j of branch point 307 in method 300 according to the second embodiment, then, for example, the fifth control bus participant 1510 can divide the bus participant into a fifth first line 1565 and a fifth second line 1570 in the second step 310 of method 300 according to the second embodiment. The fifth first line 1565 may thus include... Figure 15a The fifth bus participants, from the first to the ninth, are 1515, 1520, 1525, 1530, 1535, 1540, 1545, 1550, and 1555. The second line 1570 thus forms the tenth bus participant 1560, which is connected to the third input / output port P2 of the fifth bus participant 1535. The first line 1565 can also be referred to as the first line 1565, and the second line 1570 can also be referred to as the second line 1570.

[0209] In the third step 315 of the method 300 according to the second embodiment, the first timestamp T1 on the sending path 825 and the second timestamp T2 on the return path 830 of the bus participant of the fifth first line 1565 are first recorded. For the sake of brevity, the above description will not be repeated here. Figure 3 In the fourth step 320 of the method 300 according to the second embodiment, for the data packet on the return path of the bus participant of the fifth first line 1565, specifically when the fifth bus participant 1535 receives the data packet from the fifth sixth bus participant 1540 through the second input / output port P1, a second timestamp T2 is recorded for the fifth bus participant 1535.

[0210] Furthermore, the data packet is output to the fifth / tenth bus participant 1560 via another data line 1504 through the third input / output port P2, so that the fifth / tenth bus participant 1560 records the first timestamp T1 when receiving the data packet through its first input / output port P0. Since the fifth / tenth bus participant 1560 is not connected to any other bus participant through its second input / output port P1, it directly sends the data packet back to the fifth / fifth bus participant 1535.

[0211] For example, in the fifth step 325 of the method 300 according to the second embodiment, the fifth bus participant 1535 receives a data packet through the third input / output port P2 and records the third timestamp T3 of the fifth bus participant 1535. Although the third timestamp T3 of the fifth bus participant is recorded, Figure 1 In the seventh step 135 of the method 100 according to the first embodiment, or in Figure 2 The first to third intermediate steps 205 to 215 of segment 200 of the seventh step 135 of the method 100 according to the first embodiment are not considered.

[0212] After recording its third timestamp T3, the fifth bus participant 1535 outputs a data packet to the fifth bus participant 1530 on return path 830 in the fifth step 325 of the method 300 according to the second embodiment. It can be understood that the fifth bus participants 1530, 1525, 1520, and 1515 forward the data packet to the fifth control bus participant 1510 on return path 830.

[0213] The following will combine Figure 4 and 15b Describe it. Figure 4 A schematic diagram of a method 400 for determining the installation order of participants in an automated network bus according to a third embodiment is shown. Figure 15b Showing Figure 15a A second schematic diagram of the automation network 1500 according to the fifth embodiment is shown. Figure 15a different, Figure 15b The fifth second module 1502 has a second arrangement 1720. Figure 4 The method 400 according to the third embodiment and Figure 3 The difference in the method 300 according to the third embodiment is that, for example, the fifth bus participant 1535 receives a data packet through the second input / output port P1 on the outgoing path 825 in the third step 415 of the method according to the third embodiment, and records the first timestamp T1 of the fifth bus participant 1535.

[0214] Subsequently, the data packet is output to the fifth and tenth bus participant 1560 via the fifth second line 1570 through the third input / output port P2, so that the fifth and tenth bus participant 1560 records the first timestamp T1 of the fifth and tenth bus participant 1560 when receiving the data packet through the first input / output port P0.

[0215] The fifth bus participant 1560 is not connected to any other bus participants at its second input / output port P1. The second timestamp T2 of the fifth bus participant 1560 corresponds to the first timestamp T1 of the fifth bus participant 1560, and the difference is calculated as described above.

[0216] Figure 4 The fourth step 420 of the method 400 according to the third embodiment and Figure 3 The difference lies in that, when a data packet is received via the third input / output port P2 of the fifth bus participant 1535 on the return path 830 through the fifth second line 1570, the fifth bus participant 1535 records the third timestamp T3. Similar to... Figure 3 The third timestamp T3 is in the seventh step 135 of the method 100 according to the first embodiment and its Figure 2 The first to third intermediate steps 205, 210, and 215 of segment 200 of method 100 according to the first embodiment are not considered. The fifth bus participant 1535 then outputs a data packet on the outgoing path 825 via the first input / output port P0 through the fifth first line 1565, for example in... Figure 15b The fifth and fourth bus participants in the middle are 1530.

[0217] If the fifth bus participant 1535 is in Figure 4 In the fifth step 425 of the method 400 according to the third embodiment, a data packet is received through the first input / output port P0 on the return path 830 via the fifth first line 1565. Then, the fifth bus participant 1535 records the second timestamp T2 of the fifth bus participant 1535 and outputs the data packet through the fifth first line 1565 on the return path 830 via the second input / output port P1.

[0218] Reference Figure 15b According to the description of the automated network 1500 of the fifth embodiment, the first to eighteenth timestamps t1 to t18 of the first other timeline (not shown) are listed in more detail in Table 3 below:

[0219] Table 3

[0220] The timestamp of the first other timeline (not shown) Bus participants (input / output ports) of the automation network 1500 according to the fifth embodiment t1 The fifth and first bus participant, 1515 (P0). t2 Fifth bus participant 1520 (P0) t3 The fifth and third bus participant, 1525 (P0). t4 The fifth and sixth bus participant, 1540 (P1). t5 The fifth bus participant, 1535 (P1). t6 The fifth and tenth bus participant, 1560 (P0). t7 The fifth and fourth bus participant, 1530 (P1). t8 The fifth and seventh bus participant, 1545 (P0). t9 The fifth and eighth bus participants, 1550 (P0). t10 The fifth and ninth bus participant, 1555 (P0). t11 The fifth and eighth bus participants, 1550 (P1). t12 The fifth and seventh bus participant, 1545 (P1). t13 The fifth and fourth bus participant, 1530 (P0). t14 The fifth bus participant, 1535 (P0). t15 The fifth and sixth bus participants, 1540 (P0). t16 The fifth and third bus participant, 1525 (P1). t17 Fifth bus participant 1520 (P1) t18 The fifth and first bus participant, 1515 (P1).

[0221] The above descriptions of the first and second timestamps T1 and T2 for each bus participant in Tables 1 and 2 also apply to the timestamps of the first other timeline (not shown) listed in Table 3. In Table 3, the third timestamp T3 for the reception of data packets via the third input / output port P2 of the fifth bus participant 1535 is not listed because, as stated above, it is... Figure 1 Method 100 according to the first embodiment or Figure 2 The first to third intermediate steps 205-215 of the seventh step 135 of the method 100 according to the first embodiment are not considered.

[0222] The following will combine Figure 14a Describe b. Figure 14a A first schematic diagram of an automation network 1400 according to a fourth embodiment is shown. Figure 14b A second schematic diagram of an automation network 1400 according to a fourth embodiment is shown. The automation network 1400 according to the fourth embodiment is designed as the first and second robotic arms 1403, 1404 of an industrial robot, wherein multiple movable axes 1402 of the fourth first and fourth second robotic arms 1403, 1404 each form a separate fourth first to fourth eighteenth bus participant 1415, 1420, 1425, 1430, 1435, 1440, 1445, 1450, 1455, 1460, 1465, 1470, 1475, 1480, 1485, 1490, 1495, 1497.

[0223] The first to the fortieth eighteenth bus participants, 1415, 1420, 1425, 1430, 1435, 1440, 1445, 1450, 1455, 1460, 1465, 1470, 1475, 1480, 1485, 1490, 1495, and 1497, can also be referred to as the first to the eighteenth bus participants, 1415, 1420, 1425, 1430, 1435, 1440, 1445, 1450, 1455, 1460, 1465, 1470, 1475, 1480, 1485, 1490, 1495, and 1497. (This is used for...) Figure 12 The description of the second robotic arm 1201 of the automation network 1200 according to the second embodiment is fully applicable to the fourth first and fourth second robotic arms 1403, 1404 used as the fourth first and fourth second robotic arms of the automation network 1400 according to the fourth embodiment in FIG14.

[0224] The fourth first bus participant 1415 can, for example, form the base / first axis of the fourth first and fourth second robotic arms 1403, 1404. The fourth second bus participant 1420 can, for example, form the first connecting element having first to third input / output ports P0, P1, P2, similar to... Figure 15a The fifth bus participant 1535 of the automation network 1500 according to the fifth embodiment in b. The fourth third bus participant 1425 is arranged on the second input / output port P1 of the fourth second bus participant 1420.

[0225] The fourth and third bus participant 1425 is designed, for example, as the second axis of the fourth first robotic arm 1403. The fourth bus participant 1430 is designed, for example, as the third axis of the fourth first robotic arm 1403. The fourth and fifth bus participant 1435 is designed, for example, as the second connecting element of the fourth first robotic arm 1403. The fourth and sixth bus participant 1440 is designed, for example, as the fourth axis of the fourth first robotic arm 1403. The fourth and seventh bus participant 1445 is designed, for example, as the third connecting element of the fourth first robotic arm 1403. The fourth and eighth bus participant 1450 is designed, for example, as the fifth axis of the fourth first robotic arm 1403. The fourth and ninth bus participant 1455 is designed, for example, as the fourth connecting element, and the fourth and tenth bus participant 1460 is designed, for example, as the first gripper of the fourth first robotic arm 1403. The aforementioned fourth to forty-tenth bus participants 1415, 1420, 1425, 140, 1435, 1440, 1445, 1450, 1455, and 1460 can form the fourth first line 1565. The fourth first line 1565 can also be referred to as the first line 1565.

[0226] The fourth eleventh bus participant 1465, which is connected to the fourth second robotic arm 1404, can be connected via the third input / output port P2 of the fourth second bus participant 1420. The fourth eleventh bus participant 1465 can be designed as the seventh axis. The fourth twelfth bus participant 1470 can, for example, form the eighth axis. The fourth thirteenth bus participant 1475 can, for example, form the fifth connecting element. The fourth fourteenth bus participant 1480 can, for example, form the ninth axis. The fourth fifteenth bus participant 1485 can, for example, form the sixth connecting element. The fourth sixteenth bus participant 1490 can, for example, form the tenth axis. The fourth seventeenth bus participant 1495 can, for example, form the seventh connecting element, and the fourth eighteenth bus participant 1497 can, for example, form the second gripper. The aforementioned 11th to 48th bus participants 1465, 1470, 1475, 1480, 1485, 1490, 1495, and 1497 can form a fourth second robotic arm 1404 and create a fourth second line 1570 for the automation network 1400. This fourth second line 1570 can also be referred to as the second line 1570.

[0227] For example, a data packet may be output by the fourth control bus participant 1410 of the automation network 1400 according to the fourth embodiment, first via the fourth first line 1565, and then via the fourth second line 1570. It can be understood that the reverse is also true, or a separate data packet may be output for each line. The same applies to the figures showing other bus participants grouped onto different lines.

[0228] In the illustration of Figure 14, for example, the fourth sixth bus participant 1440 of the fourth first robotic arm 1403 and the fourth fourteenth bus participant 1480 of the second robotic arm 1404 each have a second arrangement 1720. That is, they each receive incoming data packets via the second input / output port P1 on the outgoing path 825, instead of via the first input / output port P0. Therefore, the tenth bit 30 of the processing order of the fourth sixth bus participant 1480 is different from the sixth bit 6 of the installation order of the fourth sixth bus participant 1480. Furthermore, the eighteenth bit 38 of the processing order of the fourth fourteenth bus participant 1480 is different from the fourteenth bit 14 of the installation order of the fourth fourteenth bus participant 1480.

[0229] If the fourth and sixth bus participants 1440 have the first arrangement 1710, then the fourth and sixth bus participants 1440 will have the sixth bit 26 of the consecutive processing order, which corresponds to the sixth bit 6 of the installation order. If the fourth and fourteenth bus participants 1480 have the first arrangement 1710, then the fourth and fourteenth bus participants 1480 will have the fourteenth bit 34 of the consecutive processing order, which corresponds to the fourteenth bit 14 of the installation order.

[0230] Similar to Figure 15b ,for Figure 14a And b, the first to thirty-fifth timestamps t1 to t35 of the second timeline (not shown) are listed in more detail in Table 4 below:

[0231] Table 4

[0232] A second timeline (not shown) timestamp Bus participants (input / output ports) of the automation network 1400 according to the fourth embodiment t1 The fourth and first bus participant, 1415 (P0). t2 The fourth and second bus participant, 1420 (P0). t3 The fourth and third bus participant, 1425 (P0). t4 The fourth bus participant, 1435 (P0). t5 The fourth and fifth bus participants, 1435 (P0), t6 The fourth and sixth bus participant, 1440 (P1). t7 The fourth and seventh bus participant, 1445 (P0). t8 The fourth and eighth bus participants, 1450 (P0). t9 The fourth and ninth bus participant, 1455 (P0). t10 The fourth and tenth bus participant, 1460 (P0). t11 The fourth and ninth bus participant, 1455 (P1). t12 The fourth and eighth bus participants, 1450 (P1). t13 The fourth and seventh bus participant, 1445 (P1). t14 The fourth and sixth bus participant, 1440 (P0). t15 The fourth and fifth bus participant, 1435 (P1). t16 The fourth bus participant, 1430 (P1), t17 The fourth and third bus participant, 1425 (P1). t18 The fourth and second bus participant, 1420 (P1). t19 The 41st bus participant, 1465 (P0). t20 The fourth and twelfth bus participant, 1470 (P0). t21 The fourth and thirteenth bus participant, 1475 (P0). t22 The fourth and fourteenth bus participant, 1480 (P1). t23 The fourth and fifteenth bus participant, 1485 (P0). t24 The fourth and sixteenth bus participant, 1490 (P0). t25 The fourth and seventeenth bus participant, 1495 (P0). t26 The fourth and eighteenth bus participant, 1497 (P0). t27 The 4th and 17th bus participant, 1495 (P1). t28 The fourth and sixteenth bus participant, 1490 (P1). t29 The fourth and fifteenth bus participant, 1485 (P1). t30 The fourth and fourteenth bus participant, 1480 (P0). t31 The fourth and thirteenth bus participant, 1475 (P1). t32 The fourth and twelfth bus participant, 1470 (P1). t33 The 41st bus participant, 1465 (P1) t34 The fourth and second bus participant, 1420 (P2). t35 The fourth and first bus participant, 1415 (P1).

[0233] The description of Table 3 also applies to Table 4, except that Table 4 includes a third timestamp T3 for the third input / output port P2 of the fourth second bus participant 1420.

[0234] The following will combine Figure 5 , 10 It is described in conjunction with 16a. Figure 5 A schematic diagram of a method 500 for determining the installation order of participants in an automated network bus, according to a fourth embodiment, is shown. Figure 10A schematic diagram of a bus participant 1000 according to a third embodiment is shown. Figure 16a A first schematic diagram of an automation network 1600 according to a sixth embodiment is shown. Figure 16a In addition to the sixth control bus participant 1610, the automation network 1600 according to the sixth embodiment also has the sixth first to the sixth eleventh bus participants 1615, 1620, 1625, 1630, 1635, 1640, 1645, 1650, 1655, 1660, and 1665. The sixth first to the sixth eleventh bus participants 1615, 1620, 1625, 1630, 1635, 1640, 1645, 1650, 1655, 1660, and 1665 can also be referred to as the first to the eleventh bus participants 1615, 1620, 1625, 1630, 1635, 1640, 1645, 1650, 1655, 1660, and 1665.

[0235] Figure 5 The method 500 according to the fourth embodiment includes providing a data packet in the first step 505, similar to the first step 105 of the method 100 according to the first embodiment. Figure 5 In intermediate step 507 of method 500 according to the fourth embodiment, the corresponding bus participants are checked, for example... Figure 16a In the sixth embodiment of the automation network 1600, does the sixth and fifth bus participant 1635 have a third input / output port P2 and a fourth input / output port P3? This can be similar to... Figure 1 The description is based on the branch point 123 of the method 100 of the first embodiment.

[0236] If the bus participant does not have a third input / output port P2 and a fourth input / output port, i.e., the nth branch of the branch point 507 of the method 500 according to the fourth embodiment, then according to Figure 5 The method 500 of the fourth embodiment enters Figure 1 The second to seventh method steps 110 to 135 of the method 100 according to the first embodiment.

[0237] If a bus participant has a third input / output port P2 and a fourth input / output port P3, i.e., branch j of branch point 507 of method 500 according to the fourth embodiment, then, for example, the sixth control bus participant 1610 of the automation network 1600 according to the sixth embodiment can divide the bus participant into the sixth first line 1565, the sixth second line 1570, and the sixth third line 1575 in the second step 510 of method 500 according to the fourth embodiment. The sixth first line 1565, the sixth second line 1570, and the sixth third line 1575 can also be referred to herein as the first line 1565, the second line 1570, and the third line 1575. The sixth bus participant 1635 can output data packets on the outgoing path of the sixth third line 1575 through the fourth input / output port P3 in the second step 510 of method 500 according to the fourth embodiment, so that the sixth bus participant 1640 of the sixth third line 1575 can record the first timestamp T1 of the sixth bus participant 1640 on the outgoing path.

[0238] The sixth line 1565 may thus include all the sixth first to sixth fifth bus participants 1615, 1620, 1625, 1630, 1635 and all the sixth seventh to sixth tenth bus participants 1645, 1650, 1655, 1660 in FIG. 16a. The sixth line 1570 may thus form the sixth eleventh bus participant 1665, which is connected to the third input / output port P2 of the sixth fifth bus participant 1635.

[0239] Since the sixth bus participant 1640 is not connected to any other bus participants at its second input / output port P1, the sixth bus participant 1640 directly sends data packets back to the sixth bus participant 1635 through its fourth input / output port P3.

[0240] In the third step 515 of the method 500 according to the fourth embodiment, the sixth and fifth bus participants 1635 receive data packets through the fourth input / output port P3 and record the fourth timestamp T4 of the sixth and fifth bus participants 1635. Finally, in the third step 515 of the method 500 according to the fourth embodiment, the sixth and fifth bus participants 1635 output data packets to the sixth first line 1565 on the outgoing path 825 through the second input / output port P1, so that the sixth, seventh to sixth tenth bus participants 1645, 1650, 1655, and 1660 can each record the first timestamp T1 of the bus participant on the outgoing path 825 and / or record the second timestamp T2 of the bus participant on the return path 830.

[0241] If the sixth and fifth bus participants 1635 receive a data packet on the return path of the sixth first line 1565 via the second input / output port P1 in the fourth step 520 of the method 500 according to the fourth embodiment, then the sixth and fifth bus participants 1635 record the second timestamp T2 of the sixth and fifth bus participants 1635, and output a data packet to the sixth eleventh bus participant 1665 of the sixth second line 1570 via the third input / output port P2 on the output path 825, so that the sixth eleventh bus participant 1665 can record the first timestamp T1 of the sixth eleventh bus participant 1665 on the output path 825.

[0242] If the sixth bus participant 1635 receives a data packet on the return path 830 of the sixth second line 1570 via the third input / output port P2 in the fifth step 525 of the method 500 according to the fourth embodiment, then the sixth bus participant 1635 records the third timestamp T3 of the sixth bus participant 1635 and outputs a data packet to the sixth control bus participant 1610 via the sixth first line 1565 on the return path 830 via the first input / output port P0. Then the sixth control bus participant 1610 can, for example, output another data packet to read the first to fourth timestamps T1-T4 of the bus participants of the automation network 1600 according to the sixth embodiment, recorded by the sixth plurality of bus participants 1605, and based on this execute the seventh step 135 of the method 100 according to the first embodiment, including according to... Figure 1 and 2 The first to third intermediate steps 205, 210, 215 of segment 200 of the seventh step 135 of the method 100 according to the first embodiment.

[0243] It is understood that data line 820, another data line 1504, and a second data line 1506 may each contain two separate data lines to separate the data packet sending path 825 and the return path 830.

[0244] Figure 16a The sixth and fifth bus participants 1635 in the middle can, for example, have according to Figure 10 The third embodiment describes the structure of the bus participant 1000. Here, the third data line 1020 is split into a third transmit path data line 1035 for the packet transmit path 825 and a third return path data line 1040 for the packet return path 830. The third transmit path data line 1035 and the third return path data line 1040 can also be referred to as transmit path data line 1035 and return path data line 1040.

[0245] exist Figure 10A processing unit 945 is arranged between the first input / output port P0 of the bus participant 1000 according to the third embodiment and the fourth input / output port P3 of the bus participant 1000 according to the third embodiment, wherein the processing unit 945 can be designed similar to Figure 9 According to the second embodiment, bus participant 900. Processing unit 945 is connected to the outgoing path data line 1035 of bus participant 1000 according to the third embodiment on the outgoing path 825 of the data packet, and is designed to process data packets during pass-through, i.e., in parallel with continuous reception of data packets through the first input / output port P0. Processing unit 945 is also designed to forward data packets to the fourth input / output port P3 of bus participant 1000 according to the third embodiment via the third outgoing path data line 1035.

[0246] If a bus participant has only three input / output ports, instead of Figure 10 The four input / output ports P0, P1, P2, and P3 (not shown) are displayed. For example, a fourth input / output port P3 will not exist. Therefore, the processing unit will be arranged between the first input / output port P0 and the second input / output port P1. The connection of the processing unit can be made between the input / output ports via the outgoing path data line 1035 of the bus participant 1000 according to the third embodiment to form a data packet outgoing path 825.

[0247] The following will combine Figure 6 and 16b Describe it. Figure 6 A schematic diagram of a method 600 for determining the installation sequence according to a fifth embodiment is shown. Figure 16b Showing Figure 16a A second schematic diagram of the automation network 1600 according to the sixth embodiment is shown. Similar to... Figure 16a , Figure 16b The sixth plurality of bus participants 1605 are arranged in the sixth first to third modules 1601, 1602, 1603 of the automation network 1600 according to the sixth embodiment, each module having three or five bus participants. The sixth first to third modules 1601, 1602, 1603 may also be referred to as the first to third modules 1601, 1602, 1603. Each of the sixth first to third modules 1601, 1602, 1603 forms a workbench. Figure 16a different, Figure 16b The sixth second module 1602 has a second arrangement 1720.

[0248] Figure 6 Method 600 according to the fifth embodiment and Figure 5 The method is similar to that in the fourth embodiment 500. Figure 6 The first step 605 and the intermediate step 607 of the method 600 according to the fifth embodiment can be designed similarly to... Figure 5 The first step 505 and the intermediate step 507 of the method 500 according to the fourth embodiment can be referred to the above description.

[0249] Figure 6 The second step 610 of the method 600 according to the fifth embodiment can be similar to Figure 5 In the second step 510 of the method 500 according to the fourth embodiment, that is, if, for example, a bus participant, i.e. Figure 16b The sixth bus participant 1635, having a third input / output port P2 and a fourth input / output port P3, can divide the bus participants into the sixth first line 1565, the sixth second line 1570, and the sixth third line 1575. If, for example, the sixth fifth bus participant 1635 receives a data packet through the second input / output port P1, the sixth fifth bus participant 1635 records its first timestamp T1 and, in the second step 610 of the method 600 according to the fifth embodiment, outputs a data packet to the sixth eleventh bus participant 1665 through the third input / output port P2 on the output path 825 of the sixth second line 1570.

[0250] In the second arrangement 1720 of the sixth second module 1602, the second input / output port P1 of the sixth fifth bus participant 1635 corresponds to the input / output port facing the preceding sixth seventh bus participant 1645, and through this port, the sixth fifth bus participant 1635 receives data packets on the outgoing path 825. Then, the sixth eleventh bus participant 1665 can record the first timestamp T1 of the sixth eleventh bus participant 1665 when receiving data packets through its first input / output port P0.

[0251] In the third step 615 of the method 600 according to the fifth embodiment, the sixth bus participant 1635 may record a third timestamp T3 when receiving a data packet on the return path of the second line 1570 via the third input / output port P2. The sixth bus participant 1635 may also output a data packet on the outgoing path 825 via the first line 1565 via the first input / output port P0 in the third step 615 of the method 600 according to the fifth embodiment. In the second arrangement 1720 of the sixth bus participant 1635, the first input / output port P0 is the input / output port of the sixth bus participant 1630 facing the first line 1565. Then, each bus participant on the first line 1565 may record a first timestamp T1 on the data packet outgoing path 825 and / or a second timestamp T2 on the data packet return path 830.

[0252] In the fourth step 620 of the method 600 according to the fifth embodiment, the sixth bus participant 1635 records a second timestamp T2 when receiving a data packet on the return path 830 of the first line via the first input / output port P0. Furthermore, in the fourth step 620 of the method 600 according to the fifth embodiment, the sixth bus participant 1635 outputs a data packet to the sixth bus participant 1640 via the fourth input / output port on the outgoing path 825 of the third line 1575. The sixth bus participant 1640 may then record a first timestamp T1 when receiving a data packet via the first input / output port, and subsequently output a data packet to the sixth bus participant 1635 on the return path 830 of the third line 1575.

[0253] In the fifth step 625 of the method 600 according to the fifth embodiment, the sixth and fifth bus participants 1635 receive data packets through the fourth input / output port P3 and record the fourth timestamp T4 of the sixth and fifth bus participants 1635 thereon. Finally, the sixth and fifth bus participants 1635 output data packets to the sixth control bus participant 1610 in the direction of the first line 1565 on the return path 830 through the second input / output port P1. Then the sixth control bus participant 1610 can then proceed in a similar manner to the above combination. Figure 5 and 16a The process involves reading the first to fourth timestamps T1-T4 recorded by the sixth plurality of bus participants 1605 via another data packet, and performing the seventh step 135 of the method 100 according to the first embodiment, including according to... Figure 1 and 2The first to third intermediate steps 205, 210, 215 of segment 200 of the seventh step 135 of the method 100 according to the first embodiment.

[0254] Understandable. Figure 16b The sixth and fifth bus participants 1635 can have Figure 10 The structure of the bus participant 1000 according to the third embodiment is described above. To simplify the above... Figure 6 and 16b The description does not take into account the existence of a processing unit in the automation network 1600 of a sixth multiple bus participant 1605. However, it is understood that it may be included in the sixth multiple bus participant 1605.

[0255] Similar to the above description, the first to nineteenth timestamps t1 to t19 of the third additional timeline (not shown) can be listed in more detail in Table 5 below:

[0256] Table 5

[0257] A third timeline (not shown) timestamp Bus participants (input / output ports) of the automation network 1600 according to the sixth embodiment t1 The sixth and first bus participant, 1615 (P0). t2 The sixth and second bus participant, 1620 (P0). t3 The sixth and third bus participant, 1625 (P0). t4 The sixth and seventh bus participants, 1645 (P1), t5 The sixth and fifth bus participants, 1635 (P1), t6 The 6th and 11th bus participant, 1665 (P0). t7 The sixth and fourth bus participant, 1630 (P1). t8 The sixth and eighth bus participants, 1650 (P0). t9 The sixth and ninth bus participant, 1655 (P0). t10 The sixth and tenth bus participant, 1660 (P0). t11 The sixth and ninth bus participant, 1655 (P1). t12 The sixth and eighth bus participants, 1650 (P1). t13 The sixth and fourth bus participant, 1630 (P0). t14 The sixth and fifth bus participants, 1635 (P0). t15 The sixth bus participant, 1640 (P0). t16 The sixth and seventh bus participants, 1645 (P0). t17 The sixth and third bus participant, 1625 (P1). t18 The sixth and second bus participant, 1620 (P1). t19 The sixth and first bus participant, 1615 (P1).

[0258] The timestamps t1 to t19 in Table 5 can each form the first and second timestamps T1 and T2 of the bus participants in the automated network 1600 according to the sixth embodiment, based on the... Figure 6 and 16b The timestamps are used to determine the installation order of the sixth multiple bus participant 1605. However, Table 5 does not include the third timestamp T3 for receiving data packets through the third input / output port P2 of the sixth fifth bus participant 1635 and the fourth timestamp T4 for receiving data packets through the fourth input / output port P3.

[0259] Figure 7A schematic diagram of a method 700 for controlling multiple bus participants in an automation network is shown. This method 700 for controlling multiple bus participants can be applied to all illustrated automation network embodiments. A first step 705 of the method 700 for controlling multiple bus participants includes providing multiple bus participants in the automation network. In a second step 710 of the method 700 for controlling multiple bus participants, a method for determining the installation order of multiple bus participants in the automation network according to first to fifth embodiments 100, 300, 400, 500, and 600 is executed, along with a segment 200 of the seventh step 135 of the method 100 according to the first embodiment, based on the aforementioned features. The methods for determining the installation order of multiple bus participants in the automation network according to first to fifth embodiments 100, 300, 400, 500, and 600, and the segment 200 of the seventh step 135 of the method 100 according to the first embodiment, constitute the basis for assigning a processing order to the installation order of the bus participants. In the third step 715 of the method 700 for controlling multiple bus participants, multiple bus participants are controlled in the corresponding automation network based on the installation order of the bus participants obtained by the method for knowing the installation order of multiple bus participants in the automation network according to the first to fifth embodiments 100, 300, 400, 500, 600 and the segment 200 of the seventh step 135 of the method 100 according to the first embodiment.

[0260] The present invention has been described in detail through preferred embodiments. In addition to the described embodiments, other embodiments are conceivable, which may have further modifications or combinations of the described features. Therefore, the present invention is not limited to the disclosed examples, as other variations can be derived by those skilled in the art without departing from the scope of protection of the present invention.

[0261] List of reference numerals

[0262] 1-18 Installation sequence: first to eighteenth

[0263] 21-38 Processing order: first to eighteenth digits

[0264] RX receiver unit

[0265] TX Transmitting Unit

[0266] 100 The method according to the first embodiment

[0267] 105 First step of the method according to the first embodiment

[0268] 110 The second step of the method according to the first embodiment

[0269] 115 The third step of the method according to the first embodiment

[0270] 120 Fourth step of the method according to the first embodiment

[0271] 123 Intermediate steps of the method according to the first embodiment

[0272] 125 The fifth step of the method according to the first embodiment

[0273] 130 The sixth step of the method according to the first embodiment

[0274] 135 The seventh step of the method according to the first embodiment

[0275] 200 Fragment of a method for determining the installation order of participants in an automated network bus

[0276] 205 First intermediate step of the method for identifying bus participants

[0277] 210 The second intermediate step of the method for identifying bus participants

[0278] 215 The third intermediate step of the method for identifying bus participants

[0279] 300 Method according to the second embodiment

[0280] 305 The first step of the method according to the second embodiment

[0281] 307 Intermediate steps of the method according to the second embodiment

[0282] 310 The second step of the method according to the second embodiment

[0283] 315 The third step of the method according to the second embodiment

[0284] 320 Fourth step of the method according to the second embodiment

[0285] 325 The fifth step of the method according to the second embodiment

[0286] 400 Method according to the third embodiment

[0287] 405 First step of the method according to the third embodiment

[0288] 407 Intermediate steps of the method according to the third embodiment

[0289] 410 The second step of the method according to the third embodiment

[0290] 415 The third step of the method according to the third embodiment

[0291] 420 Fourth step of the method according to the third embodiment

[0292] 425 The fifth step of the method according to the third embodiment

[0293] 500 The method according to the fourth embodiment

[0294] 505 First step of the method according to the fourth embodiment

[0295] 507 Intermediate steps of the method according to the fourth embodiment

[0296] 510 The second step of the method according to the fourth embodiment

[0297] 515 The third step of the method according to the fourth embodiment

[0298] 520 Fourth step of the method according to the fourth embodiment

[0299] 525 The fifth step of the method according to the fourth embodiment

[0300] 600 Method according to the fifth embodiment

[0301] 605 First step of the method according to the fifth embodiment

[0302] 607 Intermediate steps of the method according to the fifth embodiment

[0303] 610 The second step of the method according to the fifth embodiment

[0304] 615 The third step of the method according to the fifth embodiment

[0305] 620 Fourth step of the method according to the fifth embodiment

[0306] 625 Fifth step of the method according to the fifth embodiment

[0307] 700 Method for Controlling Multiple Bus Participants in an Automation Network

[0308] The first step of the 705 method for controlling multiple bus participants

[0309] 710 The second step of the method for controlling multiple bus participants

[0310] 715 The third step of the method for controlling multiple bus participants

[0311] 800 Bus participants according to the first embodiment

[0312] 805 First Multiple Input / Output Port

[0313] 820 data cable

[0314] 825 output path

[0315] 830 Return Path

[0316] T1 First Timestamp

[0317] T2 Second Timestamp

[0318] T3 Third Timestamp

[0319] T4 Fourth Timestamp

[0320] The first timestamp of the t1 timeline

[0321] The second timestamp of the t2 timeline

[0322] The third timestamp of the t3 timeline

[0323] The fourth timestamp of the t4 timeline

[0324] The fifth timestamp of the T5 timeline

[0325] The sixth timestamp of the t6 timeline

[0326] The seventh timestamp of the t7 timeline

[0327] The eighth timestamp of the t8 timeline

[0328] The ninth timestamp of the T9 timeline

[0329] The tenth timestamp of the t10 timeline

[0330] The eleventh timestamp of the T11 timeline

[0331] The twelfth timestamp of the t12 timeline

[0332] The thirteenth timestamp of the t13 timeline

[0333] The fourteenth timestamp of the t14 timeline

[0334] The fifteenth timestamp of the t15 timeline

[0335] The sixteenth timestamp of the t16 timeline

[0336] The seventeenth timestamp of the T17 timeline

[0337] P0 First Input / Output Port

[0338] P1 Second Input / Output Port

[0339] P2 Third Input / Output Port

[0340] P3 Fourth Input / Output Port

[0341] 900 Bus participants according to the second embodiment

[0342] 905 Second Multiple Input / Output Port

[0343] 935 Second Emission Path Data Line

[0344] 940 Second Return Path Data Line

[0345] 945 processing unit

[0346] 950 local clock

[0347] 955 memory cells

[0348] 1000 Bus participants according to the third embodiment

[0349] 1005 Third Multiple Input / Output Port

[0350] 1020 Third Data Cable

[0351] 1035 Third Emission Path Data Line

[0352] 1040 Third Return Path Data Line

[0353] 1100 Automation network according to the first embodiment

[0354] 1105 First Multiple Bus Participants

[0355] 1110 First Control Bus Participant

[0356] 1115 First bus participant

[0357] 1120 First and Second Bus Participants

[0358] 1125 First and Third Bus Participants

[0359] 1130 First and fourth bus participants

[0360] 1135 First and Fifth Bus Participants

[0361] 1200 Automation Network according to the Second Embodiment

[0362] 1201 Second Robotic Arm

[0363] 1202 Second Multiple Movable Axes

[0364] 1205 Second Multiple Bus Participants

[0365] 1210 Second Control Bus Participant

[0366] 1215 Second First Bus Participant

[0367] 1220 Second bus participant

[0368] 1225 Second and Third Bus Participants

[0369] 1230 The second and fourth bus participants

[0370] 1235 Second and Fifth Bus Participants

[0371] 1240 Second and Sixth Bus Participants

[0372] 1245 The second and seventh bus participants

[0373] 1250 Second and Eighth Bus Participants

[0374] 1255 Second and Ninth Bus Participants

[0375] 1300 Automation network according to the third embodiment

[0376] 1301 Third Module

[0377] 1302 Third and Second Modules

[0378] 1303 Third Module

[0379] 1305 Third Multiple Bus Participants

[0380] 1310 Third Control Bus Participant

[0381] 1315 Third First Bus Participant

[0382] 1320 Third and Second Bus Participants

[0383] 1325 Third Bus Participant

[0384] 1330 Third and Fourth Bus Participants

[0385] 1335 Third and Fifth Bus Participants

[0386] 1340 Third and Sixth Bus Participants

[0387] 1345 The third and seventh bus participants

[0388] 1350 Third and Eighth Bus Participants

[0389] 1355 Third and Ninth Bus Participants

[0390] 1400 Automation network according to the fourth embodiment

[0391] 1402 Fourth Multiple Movable Axes

[0392] 1403 Fourth and First Robotic Arm

[0393] 1404 Fourth and Second Robotic Arm

[0394] 1405 Fourth Multiple Bus Participants

[0395] 1410 Fourth Control Bus Participant

[0396] 1415 Fourth First Bus Participant

[0397] 1420 Fourth and Second Bus Participants

[0398] 1425 Fourth and third bus participant

[0399] 1430 Fourth bus participant

[0400] 1435 The fourth and fifth bus participants

[0401] 1440 The fourth and sixth bus participants

[0402] 1445 The fourth and seventh bus participants

[0403] 1450 Fourth and Eighth Bus Participants

[0404] 1455 The fourth and ninth bus participants

[0405] 1460, the fourth and tenth bus participant

[0406] 1465 The 41st bus participant

[0407] 1470 The fourth and twelfth bus participant

[0408] 1475 The 4th and 13th bus participant

[0409] 1480, the fourth and fourteenth bus participant

[0410] 1485 The fortieth and fifteenth bus participant

[0411] 1490 The 4th and 16th bus participants

[0412] 1495 The fortieth and seventeenth bus participant

[0413] 1497 The fortieth and eighteenth bus participant

[0414] 1500 Automation Network according to the Fifth Embodiment

[0415] 1501 Fifth Module 1

[0416] 1502 Fifth Module 2

[0417] 1503 Fifth and Third Modules

[0418] 1504, the fifth and another data cable

[0419] 1505 Fifth Multiple Bus Participants

[0420] 1506 Fifth Second Another Data Line

[0421] 1510 Fifth Control Bus Participant

[0422] 1515 The fifth and first bus participant

[0423] 1520 Fifth and Second Bus Participants

[0424] 1525 The fifth and third bus participants

[0425] 1530 The fifth and fourth bus participants

[0426] 1535 The fifth bus participant

[0427] 1540 The fifth and sixth bus participants

[0428] 1545 The fifth and seventh bus participants

[0429] 1550 The fifth and eighth bus participants

[0430] 1555 The fifth and ninth bus participants

[0431] 1560, the fifth and tenth bus participant

[0432] 1565 First Line

[0433] 1570 Second Line

[0434] 1575 Third Line

[0435] 1600 Automation Network according to the Sixth Embodiment

[0436] 1601 Sixth Module

[0437] 1602 Sixth and Second Modules

[0438] 1603 Sixth and Third Modules

[0439] 1605 Sixth Multiple Bus Participant

[0440] 1610 Sixth Control Bus Participant

[0441] 1615 The sixth and first bus participant

[0442] 1620 Sixth and Second Bus Participant

[0443] 1625 Sixth and Third Bus Participant

[0444] 1630 The sixth and fourth bus participants

[0445] 1635 The sixth and fifth bus participants

[0446] 1640 The sixth bus participant

[0447] 1645 The sixth and seventh bus participants

[0448] 1650 The sixth and eighth bus participants

[0449] 1655 The sixth and ninth bus participants

[0450] 1660, the sixth and tenth bus participants

[0451] 1665 The 6th and 11th bus participant

[0452] 1700 First Timeline

[0453] 1705 Second Timeline

[0454] 1710 First Deployment

[0455] 1720 Second Arrangement.

Claims

1. A method (100, 200, 300, 400, 500, 600) for determining the arrangement of bus participants in an automated network (1100, 1200, 1300, 1400, 1500, 1600), wherein, The automation network (1100, 1200, 1300, 1400, 1500, 1600) includes control bus participants (1110, 1210, 1310) and multiple bus participants (1105, 1205, 1305, 1405, 1505, 1605). The bus participants (1105, 1205, 1305, 1405, 1505, 1605) are interconnected in a ring structure from the control bus participants (1110, 1210, 1310) through a data line network with at least one data line (820, 1020). Each bus participant has at least one first and one second input / output port. The first input / output port (P0) and the second input / output port (P1) each have a receiving unit for receiving data packets and a sending unit for sending data packets, respectively. There are data connections between the receiving unit of the first input / output port (P0) and the transmitting unit of the second input / output port (P1), as well as between the receiving unit of the second input / output port (P0) and the transmitting unit of the first input / output port (P1). The data lines (820, 1020) have sending and returning paths for data packets sent from control bus participants (1110, 1210, 1310). The data packet transmission path starts from the control bus participant, proceeds to the receiving unit of an input / output port of the first bus participant (800, 900, 1000), extends via the data connection between the receiving unit of the first bus participant's input / output port and the transmitting unit of the other input / output port, proceeds from the transmitting unit of the first bus participant's other input / output port to the receiving unit of an input / output port of the next bus participant (800, 900, 1000), extends via the data connection between the receiving unit of the next bus participant's input / output port and the transmitting unit of the other input / output port, and continues from the transmitting unit of the next bus participant's other input / output port. If another bus participant is connected at that other input / output port via data lines (820, 1020), the path proceeds to the last bus participant. If no bus participant is connected at the other input / output port of the last bus participant via data lines (820, 1020), the path continues to the last bus participant. In the last bus participant, data packets are guided from the sending path to the return path. The return path extends via the data connection between the receiving unit of the other input / output port of the last bus participant and the transmitting unit of one input / output port of the last bus participant, is guided from the transmitting unit of one input / output port of the last bus participant to the receiving unit of the other input / output port of the previous bus participant (800, 900, 1000), extends via the data connection between the receiving unit of the other input / output port of the previous bus participant and the transmitting unit of one input / output port of the previous bus participant, and is guided from the transmitting unit of one input / output port of the previous bus participant to the control bus participant via other previous bus participants. The method (100, 200, 300, 400, 500, 600) includes the following steps: The control bus participants (1110, 1210, 1310) output data packets on the data lines. Each bus participant records a transmission path timestamp when receiving the data packet on the transmission path through one input / output port, and a return path timestamp when receiving the data packet on the return path through another input / output port. The timestamps recorded by each bus participant (800, 900, 1000) are correlated with each other, wherein a difference (205) is formed between the outgoing path timestamp and the return path timestamp of the bus participant (800, 900, 1000), wherein, for the last bus participant that only recorded a first timestamp, the second timestamp is set to be equivalent to the first timestamp. The difference values ​​are sorted from maximum to minimum to determine the installation order of bus participants, starting from the control bus participants as the installation line of the bus participants.

2. The method according to claim 1, in, Each bus participant has a processing unit (945) arranged in the data connection between the receiving unit of the first input / output port (P0) and the transmitting unit of the second input / output port (P1) for processing data packets. In the calculation of the difference between the send path timestamp and the return path timestamp of bus participants (800, 900, 1000), the first value is the timestamp assigned to the first input / output port (P0) of the bus participant (800, 900, 1000), and the second value is the timestamp assigned to the second input / output port (P1). Specifically, the sign of the difference between the timestamp assigned to the first input / output port (P0) and the timestamp assigned to the second input / output port (P1) is evaluated to determine the processing order of the bus participants within the installation order of the bus participants.

3. The method according to claim 1 or 2, in, The processing unit (945) in the bus participant processes data packets during the pass-through process, and the EtherCAT transport protocol is used as the communication protocol in the automation network.

4. The method according to any one of claims 1 to 3, in, The timestamps in the bus participants are recorded using the clock function of the bus participants, which provides the bus participants with the local system time.

5. The method according to any one of claims 1 to 4, in, At least one bus participant has an additional second input / output port (P2) with a receiving unit for receiving data packets and a transmitting unit for sending data packets. This additional second input / output port (P2) is arranged in the data connection between the receiving unit of the second input / output port (P1) and the transmitting unit of the first input / output port (P0). The receiving unit of the second input / output port (P1) is connected to the transmitting unit of the additional second input / output port (P2), and the receiving unit of the additional second input / output port (P2) is connected to the transmitting unit of the first input / output port (P0). From this additional second input / output port (P2), other bus participants can be connected to the ring structure via a data line network and other data lines (820, 1020). The data packet transmission path originates from the transmitting unit of another second input / output port (P2), proceeds to the receiving unit of one input / output port of another bus participant (800, 900, 1000), extends via the data connection between the receiving unit of one input / output port and the transmitting unit of another input / output port of the other bus participant, proceeds from the transmitting unit of another input / output port of the first bus participant to the receiving unit of one input / output port of the next bus participant (800, 900, 1000), extends via the data connection between the receiving unit of one input / output port and the transmitting unit of another input / output port of the next bus participant, and continues from the transmitting unit of another input / output port of the next bus participant. If another bus participant is connected to that other input / output port via data lines (820, 1020), the path proceeds to the last bus participant. If no bus participant is connected to the other input / output port of the last bus participant via data lines (820, 1020), the path continues to the last bus participant. In the last bus participant, data packets are guided from the sending path to the return path. The return path extends via the data connection between the receiving unit of another input / output port of the last bus participant and the transmitting unit of one input / output port of the last bus participant; it is guided from the transmitting unit of one input / output port of the last bus participant to the receiving unit of another input / output port of the previous bus participant (800, 900, 1000); it extends via the data connection between the receiving unit of another input / output port of the previous bus participant and the transmitting unit of one input / output port of the previous bus participant; and it is guided from the transmitting unit of one input / output port of the previous bus participant through other previous bus participants to the receiving unit of another second input / output port (P2). Specifically, the difference between the outgoing path timestamp and the return path timestamp of the bus participants (800, 900, 1000) is sorted from the maximum to the minimum value to determine the installation order of the bus participants starting from the control bus participants. For bus participants connected to other second input / output ports (P2), they are sorted separately from other bus participants to determine other installation lines (1570) at that bus participant starting from the other second input / output ports (P2).

6. The method according to any one of claims 1 to 5, wherein, The timestamps can be stored in the storage units (955) of the bus participants respectively. The bus participants (1110, 1210, 1310) can read the storage units (955) of the bus participants by sending other data packets to obtain the recorded timestamps and know the installation order of the bus participants.

Images