Registration procedure and bus communication equipment

Abstract

Registration procedure for a slave (Neu1, Neu2, Neu3, Neu4) that has not yet been registered in a bus system comprising a master (M1, M2) (9, 10), wherein the master (M1, M2) maintains a list (19) of slaves (SL1, SL2, SL3) already registered for bus communication, the master (M1, M2) sends master calls (11) to the already registered slaves (SL1, SL2, SL3) via a bus of the bus system (9, 10). and each already registered slave (SL1, SL2, SL3) sends a slave response (12) via the bus to a master call (11) directed to it, where Time slots are kept free in the temporal sequence (22) of the master calls (11) and the slave responses (12) by the master (M1, M2) and the registered slaves (SL1, SL2, SL3), the not yet registered slave (Neu1, Neu2, Neu3, Neu4) sends an arbitration element (21) of an arbitration sequence (20) via the bus in the time windows (23), wherein the arbitration sequence (20) is split into two or more arbitration elements (21) and the arbitration elements (21) are sent individually in time-spaced time windows (23) such that time periods in which the master calls (11) and slave responses (12) are sent over the bus are time-interlocked with time periods in which the arbitration elements (21) are sent, The unregistered slave (Neu1, Neu2, Neu3, Neu4) terminates the transmission of the arbitration sequence (20) if, within a time window (23) in which this unregistered slave (Neu1, Neu2, Neu3, Neu4) sends an arbitration element (21), another unregistered slave (Neu1, Neu2, Neu3, Neu4) sends or has sent a higher-value arbitration element, and the master (M1, M2) enters the unregistered slave (Neu1, Neu2, Neu3, Neu4) into the list (19) as a registered slave (SL1, SL2, SL3) when the unregistered slave (Neu1, Neu2, Neu3, Neu4) has successfully sent its arbitration sequence (20) completely.

Description

[0001] The invention relates to a registration procedure and a bus communication device.

[0002] Bus systems, or bus communication arrangements, with a master and multiple slaves are known in a wide variety of configurations. In these bus systems, a master controls the bus communication and calls the individual slaves with master calls. The addressed slaves respond with a slave response, which includes, among other things, the user data to be transmitted. To maintain an overview of the addressable slaves, the master keeps a list of all slaves already registered for bus communication, containing all slaves that are available for bus communication.

[0003] When a new slave is to be integrated into the bus system, it becomes necessary to assign it a new address. Assignment errors can occur if more than one slave is to be integrated into the bus system simultaneously. Therefore, many bus systems, such as the AS-Interface bus system, stipulate that during automatic addressing, only one slave should appear as an unregistered slave at any given time. This prevents ambiguities and incorrect assignments.

[0004] Bus systems are also used for communication in industrial plants, where the slaves are located on mobile units, for example, while the master is located on a stationary unit. In such plants, it may be designed that several masters each control different areas of influence. In this case, a slave may need to move from one area to another and be handed off for communication. Since the slaves are mobile, it may be necessary to hand off several slaves simultaneously or during overlapping time periods.

[0005] From DE 10 2010 041 810 A1 a method for automated address assignment to similar bus participants is known, in which a master starts error handling if an expected number of slaves have not registered for address assignment.

[0006] From DE 100 00 305 A1 a method and a device for exchanging data between at least two participants connected to a bus system are known, in which time windows are used for spontaneous messages, wherein access to the bus within these time windows is used via the arbitration scheme of CAN.

[0007] From DE 10 2007 050 280 A1 a method and a device for bus arbitration, a converter and a production plant are known, wherein a participant begins to send user data after identification has been completed.

[0008] From DE 10 2006 018 871 A1, a method for operating a data bus and a data bus system are known in which a new bus participant is connected to a data bus, a request bus message is generated, a final participant identification number is assigned, and the final participant identification number is used by the new bus participant as an identifier for further bus messages.

[0009] US Patent 6,009,479 discloses a method in which a unique address is assigned by the master to a newly added slave on a bus in a computer system. Upon request from the master, each slave continuously transmits its unique hardware identifier to the bus, with each bit of the hardware identifier being sent as a byte. After each byte is transmitted, the slave detects whether any transmission errors have occurred. If a transmission error is detected, the slave terminates the transmission of its hardware identifier. Only one slave successfully transmits its hardware identifier.

[0010] The invention addresses the problem of creating a registration procedure for a slave that has not yet been registered in a bus system, in which disturbances and incorrect assignments caused by several slaves being registered simultaneously are avoided.

[0011] This problem is solved according to the invention in a registration procedure by the features of claim 1 and in a bus communication device by the features of claim 14.

[0012] Important features of the invention of a registration method for a slave not yet registered in a bus system comprising a master are specified in claim 1.In particular, it is proposed that the master maintains a list of slaves already registered for bus communication, that the master sends master calls to the already registered slaves via a bus of the bus system, and that each already registered slave sends a slave response to a master call directed to it via the bus, that time windows are reserved by the master and the registered slaves in the temporal sequence of master calls and slave responses, that the not yet registered slave sends an arbitration element of an arbitration sequence via the bus in each of the time windows, and that the master adds the not yet registered slave to the list as a registered slave when the not yet registered slave has successfully sent its arbitration sequence completely.An advantage of this approach is that it provides a way to arbitrate between two or more unregistered slaves to resolve collisions. A further advantage is the creation of a registration procedure that can run during normal bus communication. For this purpose, the arbitration sequence is divided into two or more arbitration elements. These arbitration elements can then be sent individually in time-spaced windows.

[0013] Preferably, the arbitration sequence consists of two or more arbitration elements, which may be identical to each other or different from each other.

[0014] By interlocking time periods in which master calls and slave responses are sent via the bus with time periods in which arbitration elements are sent, processing time that is required anyway for processing data sent in each time period at the respective receiver can be used for arbitration.

[0015] Keeping the time slots free can be achieved in the simplest case by the master and the already registered slaves taking or observing transmission breaks during the time slots.

[0016] In an advantageous design, the time windows between each master call and the subsequent slave response can be kept free. The advantage here is that the system-necessary interruptions for processing a master call on the receiver side and / or a slave response on the master side can be used to create time windows for sending arbitration elements. This allows for the integration of the registration procedure into routine or normal bus communication with minimal delay.

[0017] In an advantageous embodiment, the master can repeat a signal present on the bus within each time window. For this purpose, a specific time interval can be defined within the time window, or the repetition can be triggered by a subsequent master call. An advantage of this is that the sending slaves are able to compare their own transmitted arbitration element with the actual signal present. This makes it easy to detect bus collisions, for example.

[0018] In an advantageous embodiment, it can be provided that the unregistered slave terminates the transmission of the arbitration sequence if, within a time window in which this unregistered slave is sending an arbitration element, another unregistered slave sends or has sent a higher-order arbitration element. The advantage here is that an automatically executable method for resolving bus collisions is created.

[0019] Overall, it can be said that with regard to the invention, a successful, complete transmission of an arbitration sequence occurs when an associated arbitration procedure has been obtained from the sending slave.

[0020] The arbitration elements can each be binary or multi-component.

[0021] In an advantageous embodiment, the system can be configured so that, for each time window in which the unregistered slave sends an arbitration element, it compares a signal present on the bus during that time window with that arbitration element. The advantage of this approach is that it allows for a simple, automated detection of whether another, unregistered slave has sent a higher-order arbitration element.

[0022] In an advantageous embodiment, the system can be configured so that the unregistered slave terminates the transmission of the arbitration sequence if, during a time window in which this unregistered slave is transmitting an arbitration element, a signal of higher priority than its own transmitted arbitration element is present on the bus. Here, the concept of higher priority can refer to a defined priority order: arbitration elements with higher priority are then superior to those with lower priority. The advantage of this is that the unregistered slave can easily detect when another slave with higher priority also intends to register with the bus system.

[0023] In an advantageous embodiment, the master can assign an address via the bus to a slave that has not yet registered but has successfully transmitted its arbitration sequence. The advantage here is that a newly registered slave can be automatically integrated into bus communication by being assigned an address. Furthermore, the newly registered slave is then accessible for normal, routine bus communication.

[0024] In an advantageous configuration, a slave that has not yet registered, but has successfully transmitted its arbitration sequence and / or been assigned an address by the master, can send an acknowledgment message via the bus. The advantage here is that the master can be signaled the successful completion of arbitration and / or address assignment. This allows the master to automatically initiate error detection and / or correction if the acknowledgment message is not received. Furthermore, it is advantageous that the completion of the registration process can be signaled to other, unregistered slaves. This allows these other unregistered slaves to subsequently initiate their own registration process.

[0025] In an advantageous configuration, the master can only add the unregistered slave to the list once it has received a confirmation message from the unregistered slave. This is advantageous because it prevents incorrect entries and allows the master to monitor communication and verify the successful completion of the registration process.

[0026] In an advantageous embodiment, it can be provided that position information is assigned to each arbitration element in the arbitration sequence, by which the temporal order of the arbitration elements in the arbitration sequence is described.

[0027] A key advantage is that omissions or skipped arbitration elements can be detected when the arbitration sequence is transmitted. This ensures a defined sequence for the associated arbitration procedure.

[0028] In an advantageous embodiment, it can be provided that each time window is assigned a target position value, at least during the time required to transmit a complete arbitration sequence. This is advantageous because it makes it possible to detect if individual slaves fall out of sync during the arbitration process or if parts of the arbitration sequence are not transmitted completely.

[0029] In an advantageous embodiment, the system can be configured so that the unregistered slave terminates the transmission of the arbitration sequence if the target position for the current time window deviates from the actual position of the arbitration element currently being sent or about to be sent by this unregistered slave. An advantage of this approach is that the slaves can automatically perform error correction or error detection to identify transmission errors when sending the arbitration sequence.

[0030] In an advantageous embodiment, the target position for each time window before and / or after the target position can be sent by the master via the bus. The advantage here is that the target position is easily available to all slaves for comparison with the actual position.

[0031] In an advantageous embodiment, a registered slave can be deleted from the list if it fails to respond, or sends an erroneous, to a master call a predetermined number of times. This is advantageous because it allows detection when slaves leave the bus system, for example, as can occur in systems with mobile slaves and multiple separate control areas operated by several masters. In this way, a handover procedure between different masters can be easily implemented without the masters needing to communicate with each other.

[0032] In an advantageous configuration, the registered slaves can be called cyclically by the master. This is advantageous because the registration procedure is usable with cyclic bus systems. Furthermore, the cyclic querying creates a fixed sequence for the reserved time slots, allowing the arbitration process to be executed within a known timeframe.

[0033] In an advantageous embodiment, the master and the registered and / or unregistered slaves can transmit FDM (Frequency Division Multiplexing) or OFDM (Orthogonal Frequency Division Multiplexing) encoded signals via the bus. A key advantage is that multiple bits can be transmitted simultaneously in a single transmission step. Furthermore, the ability to use sinusoidal signal amplitudes, which are particularly suitable for inductive coupling in signal transmission, is advantageous.

[0034] It is possible for all the information of the arbitration sequence to be fully contained within a single multi-component arbitration element. The arbitration sequence can be generated, for example, by repeating this arbitration element a predetermined number of times.

[0035] When FDM- or OFDM-encoded signals are used, it can be provided that the individual frequencies of the FDM or OFDM method are assigned powers of two, so that a superposition of different frequency components corresponds to a binary representation of a number. Other representations with number bases greater than 2 are also possible with multi-component arbitration elements.

[0036] It is particularly advantageous if the slaves are mobile, movable, or adaptable relative to the master. In this case, the slaves can be inductively coupled to the bus.

[0037] For example, it may be provided that the slaves are additionally supplied with electrical power via the bus, for example by inductive, resonant coupling. For resonant coupling, the slaves can have a resonant circuit on the receiver side, which is tuned to a resonant frequency that is preferably determined by an alternating current of constant amplitude impressed on the bus.

[0038] Resonant coupling enables inductive power transmission over comparatively large distances, especially compared to the gap dimensions in transformer technology.

[0039] In an advantageous embodiment, it can be provided that, after completion of a master call and / or before the time window, a functional test of the frequency channels used for bus communication is performed, and / or that the master and / or at least one slave adjusts the gain factor used for transmitting or receiving and / or switches to another frequency channel if the functional test reveals insufficient transmission characteristics in the frequency channel. It is advantageous that disturbances in the transmission, for example, due to a long transmission path or external interference sources, can be compensated automatically. This is particularly beneficial if the bus communication uses the FDM or OFDM method or another multi-frequency channel method.

[0040] Key features of the invention of a bus communication device are that a master and at least one slave are present, and that means for executing an application procedure according to one of the preceding claims are designed and configured. It is particularly advantageous if the means for executing the application procedure include master-side and / or slave-side data processing means which are configured by programming to execute the application procedure. The means may also comprise wholly or partially discrete electronic components.

[0041] In an advantageous embodiment, it can be provided that the master has storage means for the previously described list of slaves already registered for bus communication.

[0042] In an advantageous embodiment, it can be provided that the slaves each have a storage medium, in particular a non-volatile storage medium, which is set up to store the respective arbitration sequence.

[0043] In an advantageous embodiment, the slaves and / or the master may be provided with an adjustment means for adapting a gain factor for the transmitting and / or receiving processes. The advantage here is that signal attenuation in the transmission can be automatically compensated.

[0044] In an advantageous embodiment, the slaves and / or the master can be configured to perform a functional test of the transmission characteristics of the frequency channels used. A benefit of this is that transmission disturbances are automatically detectable.

[0045] Further advantages arise from the dependent claims. The invention is not limited to the combination of features of the claims. For those skilled in the art, further meaningful combinations of claims and / or individual claim features and / or features of the description and / or the figures will become apparent, in particular from the problem statement and / or the problem arising from a comparison with the prior art.

[0046] The invention will now be described in more detail with reference to one exemplary embodiment, but is not limited to this embodiment. Further exemplary embodiments result from combining one or more claims with each other and / or with one or more features of the exemplary embodiment.

[0047] It shows Fig. 1 a schematic diagram of an industrial plant with a bus communication device according to the invention, Fig. 2 a highly simplified schematic representation of a memory partition in a master of the bus communication device according to Fig. 1, Fig. 3 an exemplary filling of part of the storage medium from Fig. 2, Fig. 4 an example of an assignment of arbitration sequences to slaves in a filing procedure according to the invention, Fig. 5 a flowchart to explain the application procedure according to the invention in a highly simplified representation, Fig. 6 an example of the procedure of an arbitration in a filing procedure according to the invention and Fig. 7 an updated population of the list according to Fig. 3 after completion of the application procedure according to the invention.

[0048] Fig. Figure 1 shows an industrial plant, designated as a whole by 1, consisting of several movable or mobile units 2, 3, 4, which are electrically powered inductively in resonant coupling from primary conductors 5, 6.

[0049] Two stationary units 7, 8 each supply a primary conductor 5 or 6 in the arrangement shown.

[0050] Stationary units 7 and 8 each have a Master M1 and M2 respectively.

[0051] The primary conductors 5, 6 each form a bus for bus communication of the respective connected master M1, M2.

[0052] Mobile units 2, 3, and 4 each have a slave SL1, SL2, and SL3.

[0053] The master M1, the primary conductor 5 and the slaves SL1 and SL2 thus form a first bus system 9, which exchanges data according to a bus protocol.

[0054] The master M2, the primary conductor 6 and the slave SL3 form a second bus system 10, in which data is exchanged according to a bus protocol that is preferably similar or identical to the first bus system 9.

[0055] The extension areas of the primary conductors 5, 6 each define an area of ​​influence in which bus communication with a master M1 or M2 is possible.

[0056] In bus communication, the master M1 or M2 cyclically sends master calls 11 to each of the slaves SL1, SL2 or SL3 registered in the bus system 9, 10 (see below). Fig. 5), to which the respective slaves SL1, SL2 and SL3 respond with a slave response 12.

[0057] In Fig. 1 shows that the mobile unit 3 moves out of the area of ​​influence of the primary conductor 5 and into the area of ​​influence of the primary conductor 6.

[0058] Therefore, bus communication between the master M1 and the slave SL3 is no longer possible; instead, bus communication must be established between the master M2 and the slave SL3.

[0059] The inventive method is carried out for this purpose and is described in more detail below.

[0060] Each of the masters M1 and M2 contains a storage medium (not shown) which enables a storage partition 13 according to the principle of Fig. 2.

[0061] The addresses of the storage medium are listed in the first column 14 of the memory layout 13.

[0062] In column 15 to the right, identification numbers for slaves SL1, SL2, and SL3, and other slaves, can be entered or are already entered. The assignment of identification numbers to addresses can be fixed or variable.

[0063] Column 16 to the right is reserved for further user data.

[0064] Column 17 indicates, or can indicate, whether the respective slave SL1, SL2, or SL3 is registered for bus communication with the master M1 or M2. A logical "1" can denote a registered slave, and a logical "0" a slave that is not yet registered. However, the reverse can also be configured.

[0065] Columns 14 and / or 15 can be stored as non-volatile entries. Columns 16, 17, 18, 19, and 20 can be configured as volatile memory areas and / or overwhelmable memory areas.

[0066] Each slave SL1, SL2, SL3 is assigned a line in the memory allocation 13.

[0067] Fig. Figure 3 shows an example of how to fill the storage partition 13.

[0068] A list of 19 has been formed. In the example according to Fig. As can be seen in Figure 3, the slaves with identification numbers 1, 2, 3 are registered for bus communication, but the other listed slaves are not.

[0069] The following describes the procedure by which, for example, slaves with identification numbers 40, 14, 7, and 46 register for bus communication. These slaves will subsequently be referred to as unregistered slaves Neu1, Neu2, Neu3, and Neu4.

[0070] Fig. Figure 4 shows the corresponding arbitration sequence 20 for each of the mentioned slaves Neu1, Neu2, Neu3, Neu4, which is composed as a binary data sequence of individual arbitration elements 21.

[0071] The exemplary embodiment shows Fig. 4, that the arbitration sequences 20 are each composed of six binary arbitration elements 21.

[0072] In Fig. 4 corresponds to each row again as a slave.

[0073] Fig. Figure 5 shows, indicated by arrows, the temporal sequence 22 of the exchange of master calls 11 and slave responses 12. Fig. 5a and Fig. Figure 5b each shows an enlarged section from Fig. 5.

[0074] It is evident that between each master call 11 and the subsequent slave response 12 in the temporal sequence 22 a time window 23 is set up.

[0075] Time windows 23 are kept free by the master M1, M2 and the slaves SL1, SL3 already registered for bus communication in list 19 by not transmitting any data in time windows 23.

[0076] In this process, the master M1 (or in bus system 10 the master M2) sends a master call 11 in cyclical sequence to all slaves in list 19 where a 1 is entered in column 17, to which the addressed slave responds with a slave answer 12 in a manner known per se.

[0077] The slaves Neu1, Neu2, Neu3, Neu4, for example slave SL2, which have not yet been registered, are: Fig. 1 after leaving the primary conductor 5 and entering the area of ​​influence of the primary conductor 6, starting at the registration, to send an arbitration element 21 of its individual arbitration sequence 20 in the time windows.

[0078] Fig. Figure 5 shows the course of an arbitration procedure for the arbitration sequences 20 according to Fig. 4.

[0079] The arbitration sequences 20 of each slave are stored in a memory medium of the respective slave.

[0080] To illustrate the principle of the invention, it is assumed that the slaves Neu1, Neu2, Neu3, Neu4, which have not yet been registered, are listed in the table according to Fig. 4 want to register simultaneously with bus system 10 and thus with Master M2.

[0081] In chronological order 22 in Fig. Therefore, all unregistered slaves Neu1, Neu2, Neu3, Neu4 each send their first arbitration element 21 in the respective individual arbitration sequence 20, i.e., the respective row entry in the ID column (5) in Fig. 4.

[0082] The situation thus results according to the row “Arbitration_1” of the table in Fig. 6, in which the slaves Neu1, Neu2, Neu3 and Neu4 each placed their arbitration element 21 on the bus in the time window 23.

[0083] Subsequently, a slave response 12 is sent by an already registered slave according to the temporal sequence 22.

[0084] In the next master call 11 in the time sequence 22, i.e. the master call “Telegram_2”, the master M2 repeats the signal which was present on the bus in the time window 23 “Arbitration_1”.

[0085] In the example of the Fig. 6. The master therefore sends a logical "1" at a predetermined position in the user data.

[0086] Thus, slaves Neu2 and Neu3 recognize that other slaves (in the exemplary embodiment Neu1 and Neu4) have simultaneously sent a higher-order arbitration element 21. Slaves Neu2 and Neu3 can recognize this because a signal, namely a logical "1", is present on the bus, which is higher-order than their own sent arbitration element 21, in this case a logical "0".

[0087] Slaves Neu2 and Neu3 therefore terminate the transmission of further arbitration elements 21 of the individual arbitration sequence 20.

[0088] Slaves Neu1 and Neu4, on the other hand, continue with the arbitration procedure and send the arbitration element 21 from column ID (4) in the time window “Arbitration 2”. Fig. 4.

[0089] The master repeats the total logical "0" in the master call "Telegram_3". Therefore, neither slave Neu1 nor Neu4 can detect the transmission from the other slave.

[0090] Therefore, slaves Neu1 and Neu4 continue with the arbitration and send the respective arbitration element 21 from column ID (3) in the time window “Arbitration_3”.

[0091] Once again, slaves Neu1 and Neu4 cannot recognize the repeated signal present on the bus in the master call "Telegram_4" and continue the arbitration.

[0092] Now, slaves Neu1 and Neu4 send their respective current arbitration element 21 from column ID (2).

[0093] From the content of the entry of “Data_3” in the master call “Telegram_4”, the slave Neu1 can recognize that another slave must have sent in time window 23, since the signal present on the bus is different from its arbitration element 21.

[0094] Slave Neu1 therefore terminates its participation in the arbitration proceedings.

[0095] Slave Neu4 continues the arbitration process and sends its respective arbitration element 21 in the time windows 23 “Arbitration 5” and “Arbitration 6”.

[0096] Now the arbitration sequence 20 in Slave Neu4 has been completely processed, and Slave Neu4 has not detected any further higher-ranking slaves.

[0097] Therefore, Slave Neu4 is the winner of the arbitration procedure and has thus successfully completed the transmission of the arbitration frequency 20.

[0098] The master M2 knows that the arbitration frequency 20 has now been fully transmitted and can therefore assume that a slave Neu1, Neu2, Neu3, Neu4, which has not yet been registered, has won the arbitration procedure.

[0099] He therefore sends a new address for this winner in a manner that is not specified in detail.

[0100] The recipient, in our case the not yet registered slave Neu4, acknowledges this with a confirmation message 24.

[0101] The master M2 receives the confirmation message 24 and then enters the not yet registered slave Neu4 with slave ID 46 as registered in column 17 of list 19.

[0102] The described arbitration procedure only achieves the result of the arbitration specified by the arbitration sequences 20 of the individual, not yet registered, slaves Neu1, Neu2, Neu3, Neu4 if it is ensured that the arbitration elements 21, which are placed on the bus by the individual slaves Neu1, Neu2, Neu3, Neu4 in the same time window 23, are taken from a uniform column of the table in Fig. 4 originate from.

[0103] To monitor this, the master M2 sends a target position specification 25 as "Arbitration_1" etc. in every master call 11.

[0104] This target position 25 specifies the current position in the arbitration frequency 20 for each time window 23.

[0105] Each unregistered slave (New1, New2, New3, New4) has an assigned actual position value stored for its arbitration frequency 20. Fig. The 4 are the actual position data ID(5), ID(4), ID(3), ID(2), ID(1) and ID(0).

[0106] Each unregistered slave Neu1, Neu2, Neu3, Neu4 compares the current actual position 26 of the current arbitration element 21 with the target position 25 from the current master call 11.

[0107] If this information does not match, there must be a procedural or transmission error, and the slave in question, which has not yet been registered (New1, New2, New3, New4), will terminate its participation in the arbitration procedure.

[0108] The actual position data 26 thus describe the temporal sequence of the arbitration elements 21 of the arbitration sequences 20 in the arbitration procedure.

[0109] Is the slave SL2 moving in Fig. If the mobile unit 3 is out of range of the primary conductor 5, the slave SL 2 can no longer respond to master calls 11 from the master M1.

[0110] For each missed slave response 12 from the called slave SL2, the master M1 increments the counter value 27 in column 18 of list 19 by 1.

[0111] In the example according to Fig. 3 The slave SL2 with slave ID (3) has already failed to respond to a master call 11 in the manner specified by the bus protocol 29 times.

[0112] In Fig. 7 shows that in the updated list 19 this slave SL2 with slave ID (3) has already failed to respond to a master call 11 in the manner described above 31 times.

[0113] This exceeds a defined threshold, and the master M1 registers the slave SL2 with the slave ID (3) in column 17 as not registered.

[0114] In the described embodiment, the as yet unregistered Slave Neu4 is involved in the Fig. 4 and Fig. 5 around the slave SL2 of the mobile unit 3.

[0115] If it is agreed that, for example, the master M1 communicates with all slaves with a slave ID less than 40, while the master M2 communicates with all slaves with a slave ID greater than 39, then, using the described procedure, a transfer of the mobile unit 3 from the catchment area of ​​the master M1 to the catchment area of ​​the master M2 has taken place by the fact that the slave SL2 was managed by the master 1 with slave ID (3) before the transfer, while the slave SL2 is managed by the master M2 as slave ID (46) after the transfer.

[0116] It should also be mentioned that in the memory allocation 13 according to Fig. Column 28 is provided and configured for recording a synchronization number and column 29 for recording a channel identification number. Columns 28 and 29 thus generally contain communication parameters for conducting OFDM communication.

[0117] In Fig. Figure 5 shows that the transmitted data is multi-component. For example, the network data "Data_3" and the target position information "Arbitration_1" can be transmitted simultaneously via different frequency channels.

[0118] Finally, in Fig.As can be seen in the temporal sequence 22, at the end of each master call 11, i.e., before the subsequent time window 23, a sweep signal 30 is sent, which is used to perform a functional test in the form of a channel test of the transmission characteristics of the communication channels used. For this purpose, a test signal is sent in the sweep signal 30 on the used or all available frequency channels, and the participating slaves, in particular the registered slaves SL1, SL2, SL3, receive the sweep signal 30 and check the channel transmission characteristics in order to adjust gain factors or change frequency channels if necessary. It has proven advantageous to send the sweep signal before the time windows 23 and after the user data of the master call 11 in order to enable the channel test during the data processing of the master call 11 in the slaves SL1, SL2, SL3.

[0119] In the registration procedure for a slave Neu1, Neu2, Neu3, Neu4 that has not yet been registered in a bus system 9, 10 with at least one master M1, M2 and slaves SL1, SL2, SL3 that have already been registered, it is proposed to interrupt data exchange during normal operation in the temporal sequence 22 of master calls 11 and slave responses 12 within time windows 23, whereby the slaves Neu1, Neu2, Neu3, Neu4 that have not yet been registered each send an arbitration element 21 of the individually assigned arbitration sequence 20 in the time windows 23, and to enter the slave Neu1, Neu2, Neu3, Neu4 that has not yet been registered into the list 19 of the slaves SL1, SL2, SL3 that has won the arbitration procedure. Reference symbol list 1 industrial plant 2, 3, 4 mobile units 5.6 Primary conductor 7.8 stationary unit 9,10 Bus system 11 Master call 12 Slave response 13 Memory allocation Columns 14, 15, 16, 17, 18 List of 19 20 Arbitration sequence 21 Arbitration element 22 chronological sequence 23 time slots 24 Confirmation message 25 Target position specification 26 Actual position information 27 Meter reading Columns 28 and 29 M1, M2 Master SL1, SL2, SL3 registered slave New1, New2 not yet registered slave New3, New4 not yet registered slave

Claims

[1] Registration procedure for a slave (Neu1, Neu2, Neu3, Neu4) that has not yet been registered in a bus system comprising a master (M1, M2) (9, 10), wherein the master (M1, M2) maintains a list (19) of slaves (SL1, SL2, SL3) already registered for bus communication, the master (M1, M2) sends master calls (11) to the already registered slaves (SL1, SL2, SL3) via a bus of the bus system (9, 10). and each already registered slave (SL1, SL2, SL3) sends a slave response (12) via the bus to a master call (11) directed to it, where Time slots are kept free in the temporal sequence (22) of the master calls (11) and the slave responses (12) by the master (M1, M2) and the registered slaves (SL1, SL2, SL3), the not yet registered slave (Neu1, Neu2, Neu3, Neu4) sends an arbitration element (21) of an arbitration sequence (20) via the bus in the time windows (23), wherein the arbitration sequence (20) is split into two or more arbitration elements (21) and the arbitration elements (21) are sent individually in time-spaced time windows (23) such that time periods in which the master calls (11) and slave responses (12) are sent over the bus are time-interlocked with time periods in which the arbitration elements (21) are sent, The unregistered slave (Neu1, Neu2, Neu3, Neu4) terminates the transmission of the arbitration sequence (20) if, within a time window (23) in which this unregistered slave (Neu1, Neu2, Neu3, Neu4) sends an arbitration element (21), another unregistered slave (Neu1, Neu2, Neu3, Neu4) sends or has sent a higher-value arbitration element, and the master (M1, M2) enters the unregistered slave (Neu1, Neu2, Neu3, Neu4) into the list (19) as a registered slave (SL1, SL2, SL3) when the unregistered slave (Neu1, Neu2, Neu3, Neu4) has successfully sent its arbitration sequence (20) completely. [2] Registration procedure according to claim 1, characterized by , that the time windows (23) between each master call (11) and the subsequent slave response (12) are kept free. [3] Application procedure according to one of claims 1 or 2, characterized by , that the master (M1, M2) repeats a signal present on the bus in the time window (23) for each time window (23). [4] Application procedure according to one of claims 1 to 3, characterized by, that the not yet registered slave (Neu1, Neu2, Neu3, Neu4) compares a signal present on the bus in the time window (23) with this arbitration element (21) for each time window (23) in which this not yet registered slave (Neu1, Neu2, Neu3, Neu4) sends an arbitration element. [5] Application procedure according to any one of claims 1 to 4, characterized by , that the not yet registered slave (Neu1, Neu2, Neu3, Neu4) terminates the sending of the arbitration sequence (20) if, in a time window (23) in which this not yet registered slave (Neu1, Neu2, Neu3, Neu4) sends an arbitration element (21), a signal is present on the bus which is of a higher order than its own sent arbitration element (21). [6] Application procedure according to any one of claims 1 to 5, characterized by, that the master (M1, M2) assigns an address via the bus to the slave (Neu1, Neu2, Neu3, Neu4) that has not yet registered and has successfully sent its arbitration sequence (20) in full, and / or that the slave (Neu1, Neu2, Neu3, Neu4) that has not yet registered and has successfully sent its arbitration sequence (20) in full and / or to which an address has been assigned by the master (M1, M2) sends an acknowledgment message (24) via the bus. [7] Application procedure according to any one of claims 1 to 6, characterized by , that the master (M1, M2) only includes the unregistered slave (Neu1, Neu2, Neu3, Neu4) in the list (19) when it has received the or a confirmation message (24) of the unregistered slave (Neu1, Neu2, Neu3, Neu4). [8] Application procedure according to any one of claims 1 to 7, characterized by, that each of the arbitration elements (21) in the arbitration sequence (20) is assigned actual position information (26), which describes the temporal order of the arbitration elements (21) in the arbitration sequence (20). [9] Application procedure according to any one of claims 1 to 8, characterized by , that each of the time windows (23) is assigned a target position (25) at least during the time period for sending a complete arbitration sequence (20) and / or that the slave (Neu1, Neu2, Neu3, Neu4) that has not yet registered terminates the sending of the arbitration sequence (20) if the target position (25) of the current time window (23) differs from the actual position (26) of the arbitration element (21) currently being sent or to be sent by this slave (Neu1, Neu2, Neu3, Neu4) that has not yet registered. [10] Application procedure according to any one of claims 1 to 9, characterized by, that the target position information (25) for each time window (23) before and / or after the time window (23) is sent by the master (M1, M2) via the bus. [11] Application procedure according to any one of claims 1 to 10, characterized by , that a registered slave (SL1, SL2, SL3) is deleted from the list (19) if it has sent no or an incorrect slave response (12) a predetermined number of times to a master call (11) directed to it. [12] Application procedure according to any one of claims 1 to 11, characterized by , that the registered slaves (SL1, SL2, SL3) are called cyclically by the master (M1, M2) and / or that the master (M1, M2) and the registered and / or not yet registered slaves (SL1, SL2, SL3, Neu1, Neu2, Neu3, Neu4) send FDM- or OFDM-encoded signals via the bus. [13] Application procedure according to any one of claims 1 to 12, characterized by, that after completion of a master call (11) and / or before the time window (23) a functional test of frequency channels used for bus communication is carried out and / or that the master (M1, M2) and / or at least one slave (SL1, SL2, SL3, Neu1, Neu2, Neu3, Neu4) adjusts a gain factor used for sending or receiving and / or switches to another frequency channel if the or a functional test revealed insufficient transmission characteristics in the frequency channel. [14] Bus communication device with one master (M1, M2) and at least one slave (SL 1, SL 2, SL3, Neu1, Neu2, Neu3, Neu4), characterized by , that means for carrying out a registration procedure according to one of the preceding claims are designed and set up.

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