Method for controlling, in particular for commissioning, a field device via a bus system and control device

Abstract

The present invention relates to a method for controlling, in particular for commissioning, a field device (14, 16, 18, 20) via a bus system (B), wherein an initial response of the field device (14, 16, 18, 20) is performed, wherein a first response routine is executed to assign address information to the field device (14, 16, 18, 20), and subsequently, if the first response routine could not be completed successfully, at least a second alternative response routine is executed to assign the address information to the field device (14, 16, 18, 20).Using the address information, a communication connection is established with the field device (14, 16, 18, 20); field device identification data of the field device (14, 16, 18, 20) is retrieved; based on the field device identification data, a device profile is assigned to the field device (14, 16, 18, 20); parameterization data is determined depending on the device profile; and the parameterization data is transmitted to the field device (14, 16, 18, 20). The invention further relates to a control device (12).

Description

[0001] The present invention relates to a method for controlling, in particular for commissioning, a field device via a bus system and a control device.

[0002] In automation technology, the challenge lies in the coordinated control and operation of a large number of field devices, such as sensors and / or actuators. For example, in logistics centers, numerous roller motors are controlled, and their functions are coordinated. Increasing digitalization is leading to the replacement of analog controls with digital ones in this area as well. Bus systems can be used to connect the field devices to suitable control units via data transmission.

[0003] When deploying the systems in the field, a wide variety of field device brands, models, and types should be supported, depending on the application, such as different types of roller motors. However, these can differ significantly in their control methods, necessitating a versatile control system for each specific connected field device.

[0004] This might involve, for example, requiring that each individual field device, such as each motor, be configured separately during setup. Alternatively, controllers might be designed for only one specific motor type, thus limiting their versatility.

[0005] EP 2 675 113 A1 describes a system for configuring a CANopen network. This system is designed to make communication between master and slave devices more efficient. A master device and several slave devices are connected to the CANopen network, with each device being assigned a communication object identifier (COB ID). These identifiers enable the devices to send and receive process data objects (PDOs) directly among themselves. The master can monitor the data transmitted between the slave devices and thus manage the control system.

[0006] EP4120636 A1 describes a system and method for automatically restoring communication in a master-slave system after interruptions. When heartbeat messages are missing, the master device sends recovery requests, while the slave device continuously sends boot reports until the connection is restored. The system uses the CANopen protocol to ensure stable communication.

[0007] The system described in CN 104993583 A detects new devices and integrates them into a network using the CANopen protocol. It includes initializing the CANopen node, receiving and sending Process Data Objects (PDOs), and managing synchronization messages. After initialization, the system cycles through states such as pre-start and operating states, receiving start messages, sending NMT commands, modifying parameters of connected devices via SDO messages, and transmitting data via PDO messages.

[0008] All known systems share the common feature that new devices must be integrated into an existing network via a complex initialization and parameterization process in order to be controlled appropriately. This is particularly cumbersome and time-consuming with field devices from different manufacturers and of different types, especially when devices need to be repaired, reset, or replaced, particularly if the new device is not identical to the old one.

[0009] It is therefore the object of the present invention to provide a method for controlling, in particular for commissioning, a field device via a bus system, which overcomes the aforementioned disadvantages in the prior art.

[0010] This problem is solved according to the invention by a method or a control device having the features of the independent claims. Advantageous embodiments are specified in the dependent claims.

[0011] The task is then solved by a method for controlling, and in particular commissioning, a field device via a bus system, in which an initial address to the field device is executed. First, a first address routine is executed to assign address information, for example a node ID, to the field device. Subsequently, if the first address routine could not be completed successfully, at least a second alternative address routine, in particular one different from the first, is executed to assign the address information to the field device.

[0012] An "initial" response to the field device is understood to mean that no communication link to the field device exists initially, for example, because the field device has been newly connected to a port of a control device and / or reset. The communication link for control must therefore first be established, the control device must re-establish the communication link, and / or it must first be determined what type of field device it is and how it can be parameterized and / or controlled. Before the initial response, an electrical or radio connection between a control device and the field device allows, for example, the transmission of signals, but only rudimentary data transmission is possible, since no actual communication link yet exists.

[0013] When assigning address information, the control device can, for example, assign a unique network address to the field device, such as a node ID as used in a CANopen protocol.

[0014] The first and second response routines can be different ways of assigning address information, as specified, for example, by different standards or specifications. Different field devices, for example, from different manufacturers, may have different response routines implemented, meaning that not all field devices can be reached with the same response routine.

[0015] If the address information could not be assigned using the first address routine, the second address routine can be used automatically. For example, different address routines are tried one after the other until the address information is successfully assigned.

[0016] The process also establishes a communication link with the field device using the address information, for example via a CANopen protocol. Furthermore, field device identification data is retrieved.

[0017] The field device detection data can be structured, for example, as CANopen objects that are stored on a storage unit of the field device and provided by it.

[0018] In particular, when transmitting field device detection data, so-called Service Data Objects such as a VendorID, a product ID or a firmware version can be provided.

[0019] In this process, a device profile is assigned to the field device based on the field device identification data. This can be done, for example, by generating a query to a database based on the field device identification data. This database might be stored in a higher-level control device or accessed by the control device; the database can then return the device profile as a response.

[0020] Device profiles can be defined to include information about the type of field device and / or how it should be controlled. For example, certain parameters or control signals may be expected in a defined format or in a specific way so that the field device can interpret and implement them.

[0021] A device profile can, for example, be defined for control via a CANopen protocol.

[0022] In this process, parameterization data is determined depending on the device profile and the parameterization data is transferred to the field device, where it is then evaluated and used.

[0023] In particular, the parameterization data is determined and provided by a control device.

[0024] When configuring a field device, such as a roller motor, various settings can be made. This allows the field device to be integrated into the control system, for example, and its performance to be adapted to the specific requirements of the application.

[0025] A typical parameter that can be configured is the selection of an operating mode, such as speed control, torque control, or position control. Furthermore, for example, when communicating via CANopen, a node ID can be assigned as a unique address in the CANopen network to identify the device.

[0026] Furthermore, communication parameters can be parameterized, such as setting the baud rate and communication times, or configuring the process data objects (PDOs) and / or service data objects (SDOs) used.

[0027] For example, motors can have speed and / or torque limits implemented, such as by setting maximum and minimum speeds and / or by setting a torque limit to protect the motor and the mechanics. Position parameters can also be set for motors, such as defining reference points and end positions for position control, or homing methods and initialization sequences can be configured. Furthermore, acceleration and / or deceleration can be adjustable for motors, and especially for roller motors, for example by defining acceleration and deceleration ramps to ensure smooth movements and reduce mechanical stress.

[0028] Furthermore, control parameters can be set to achieve optimal control characteristics.

[0029] Parameters can also relate to fault management, such as configuring error messages and alarms or setting predefined responses to errors, like stopping the motor or switching to a safe state. Further safety parameters can be configured, for example, by configuring safety-relevant parameters such as specific emergency stop behavior or safety-related shutdowns.

[0030] Furthermore, user-defined parameters can be set, such as settings for specific application requirements, like special motion profiles or synchronization with other devices.

[0031] By performing parameterization via the network, especially via a bus system, the settings of the field device can be flexibly adjusted and monitored during commissioning and even during operation.

[0032] The field device can then be controlled and operated via the communication link. In particular, control during operation can be achieved via a CANopen protocol, for example, using process data objects (PDOs). These PDOs can be structured differently, depending on the manufacturer, type, or version of the field device. With this method, the provided device profile allows a single control device to manage various field devices, even if their control requirements differ.

[0033] In one example, the process could be configured such that, after a previously inoperable field device, such as a motor roller, is detected at a port of the control device, the field device is activated by assigning it a node ID. CANopen objects are then read for identification purposes. Based on these CANopen objects, which serve as field device recognition data, the device profile of the field device is determined, for example, that of a known CANopen drive. The field device can then be parameterized and operated within its technical capabilities, with control being managed by the control device.

[0034] During training, the field device is designed as a sensor or actuator, in particular as a motor such as a roller motor.

[0035] In further training, the field device is controlled via a CAN bus, specifically using the CANopen protocol. The address information includes, in particular, a node ID assigned to the field device.

[0036] The function of a node ID in CANopen is crucial for the identification and communication between the various nodes within a CANopen network. One of the main functions of the node ID is, for example, the unique identification of the field device. The node ID uniquely identifies a node in the network. Messages can therefore be correctly addressed and received by the appropriate nodes.

[0037] The node ID also relates to the addressing of messages to the field device. The CANopen protocol provides a message system in which the node ID forms part of a CAN identifier (CAN ID). In this way, messages can be sent to and / or received from specific nodes.

[0038] The control device, especially a master unit, can use the node ID to communicate with the specific device. Therefore, the control unit must know the node IDs of all connected devices in order to address messages correctly.

[0039] In particular, the control device manages the network structure and the assignment of node IDs, especially when new field devices are added or existing devices are removed. The node ID can also be assigned dynamically, for example, via a Layer Setting Service (LSS). In such cases, the node ID can be temporarily assigned to a new field device and then stored within the device.

[0040] In training, the device profile relates to a CANopen profile assigned to the field device, or the device profile is a CANopen profile assigned to the field device.

[0041] A database may be provided, for example, stored within a control device or at an external storage location accessible to the control device. The database may, in particular, contain device profiles for multiple field devices; for example, the database may be configured to retrieve a suitable device profile for a field device based on a query that uses the field device identification data or data objects provided by the field device.

[0042] In further training, the first and / or second addressing routine includes a dynamic assignment of the address information, such as a node ID, in particular through a layer setting service (LSS), and / or an alternative method for assigning the address information.

[0043] During further training, data is also scaled depending on the device profile, for example, units are converted. This allows the control device to convert a control variable, which it receives, for example, from a higher-level controller, into a parameter that the field device can process. Alternatively or additionally, parameters can be converted depending on the device profile, particularly by a control device.

[0044] The control device for controlling, and in particular commissioning, a field device via a bus system comprises at least one connection for a field device and a control module. The control unit, which may include, for example, a processor and / or a memory module, is configured to perform the following steps: - Initial addressing of the field device, whereby a first address routine is executed to assign address information to the field device, and subsequently, if the first address routine could not be completed successfully, at least a second alternative address routine is executed to assign the address information to the field device; - Establishing a communication link with the field device using the address information; - Retrieving field device detection data from the field device; - Assigning a device profile based on field device detection data; - Determining parameterization data depending on the device profile; and - Transferring the parameterization data to the field device.

[0045] The control device is essentially designed to execute the method described herein. It therefore offers the same advantages as the method and can be further developed analogously to the method. Conversely, the method can also be further developed analogously to the control device.

[0046] The invention further relates to a computer program product with instructions, the execution of which by means of a processor can control a control device to execute the method according to the present description.

[0047] The computer program product is essentially designed to implement the method described herein, and therefore offers the same advantages as the method and can be further developed analogously to the method. Conversely, the method can also be further developed in an analogous manner to the computer program product.

[0048] Further details and advantages of the invention will now be explained in more detail with reference to an exemplary embodiment shown in the drawings.

[0049] They show: Fig. 1 an embodiment of a system with a control device and connected field devices; Fig. 2 a schematic representation of the system's control device; and Fig. 3 an embodiment of the method.

[0050] With reference to the Fig. 1 and Fig. 2 describes an exemplary embodiment of a system with a control device and connected field devices.

[0051] System 10 includes a control device 12 and field devices 14, 16, 18, 20.

[0052] In this embodiment, the field devices 14, 16, 18, 20 are designed as motors, more precisely as roller motors 14, 16, 18, 20, as they are used, for example, in logistics centers or in other areas of automation technology.

[0053] The field devices 14, 16, 18, 20 are connected to the control device 12 via a bus system B.

[0054] In the exemplary embodiment, the bus system B is designed as a CAN bus B, which allows communication via the CANopen protocol.

[0055] The control device 12 includes an input port 30, which is connected to a control module 32, which in turn is connected to an output port 34.

[0056] The input port 30 is designed, as is known per se, to allow the control device 12 to be connected to another network, for example via Ethernet or by other means. Integrating the control device 12 into the other network can, for example, make it possible to control the control device via a higher-level controller.

[0057] In another embodiment, the control device 12 alternatively or additionally provides a wireless communication interface through which the control device 12 can establish a data connection to another network.

[0058] Output port 34 is also configured in a manner known per se, so that the control device 12 can be connected to the bus system B. In other embodiments, alternative or additional interfaces known per se may be provided, enabling a connection between the control device 12 and the field devices 14, 16, 18, 20.

[0059] With reference to Fig. Section 3 describes an embodiment of the method. This refers to the above with reference to the Fig. 1 and Fig. 2. Example of the system's implementation was used as a starting point.

[0060] The procedure involves controlling at least one of the connected field devices 14, 16, 18, 20. The following describes, as an example, the commissioning of a newly connected field device 14, 16, 18, 20 to the control device 12. However, the procedure is not limited to this example; with appropriate adaptation, it can also be used, for instance, to control the field device 14, 16, 18, 20 during operation.

[0061] In a first step S1, an initial address is made to the field device 14, 16, 18, 20. An initial address routine is used to attempt to assign address information to the field device 14, 16, 18, 20.

[0062] If the first response routine could not be completed successfully, that is, if the address information could not be assigned to field device 14, 16, 18, 20, then in a further step S2a at least a second alternative response routine is executed and another attempt is made to assign the address information to field device 14, 16, 18, 20.

[0063] In this embodiment, the CANopen protocol is used, and accordingly, the address information is a node ID according to CANopen. In other embodiments, the address information to be assigned may be structured differently.

[0064] In step S3, a communication connection is established with the field device 14, 16, 18, 20 using the address information, in the example shown case using the CANopen protocol.

[0065] In step S4, field device detection data from field devices 14, 16, 18, 20 are retrieved.

[0066] In step S5, a device profile is assigned to field device 14, 16, 18, 20 based on the field device recognition data.

[0067] In this example, the recognition data includes information about the manufacturer and type of field device 14, 16, 18, 20, as well as a firmware version. Based on this information, the appropriate device profile is determined and assigned from a database stored in the control module 32 of the control device 12.

[0068] In step S6, parameterization data is determined depending on the device profile.

[0069] The device profile can be used, for example, to determine information about the structuring of data for parameterizing the field device.

[0070] For example, a device profile for the CANopen protocol can describe standardized specifications that define how a particular type of device is parameterized and operated within the network, as well as how the associated data should be structured.

[0071] For example, a device profile defines the parameters of a field device 14, 16, 18, 20 and suitable methods for parameterizing them. This is done primarily via an object dictionary, that is, a central data structure that encompasses all communication and device settings of a CANopen device. Each object is identified by indices and contains parameters required for configuring the device, such as operating modes, limit values, and calibration values. Furthermore, the device profile can specify how these parameters can be read or written via service data objects (SDOs).

[0072] For the operation of field devices 14, 16, 18, and 20, the device profile can define how the field devices 14, 16, 18, and 20 are to be used in active operation. For example, the use of process data objects (PDOs) is described, which enable the cyclical communication of real-time data. The device profile can also specify which process data is available, how it is structured, and which communication cycles are used.

[0073] Furthermore, the handling of alarms and errors can be specified by the device profile by defining how error conditions are to be detected, reported and dealt with; this can include in particular the use of Emergency Objects (EMCY) and the definition of alarm parameters.

[0074] The structuring of the data used and communicated by field devices 14, 16, 18, and 20 can determine which data types and formats can be used. Furthermore, the device profile can define standardized communication objects (COB IDs) for specific data types, such as PDOs for process data or SDOs for configuration data. In particular, the data can be categorized into types such as input data, output data, configuration data, and diagnostic data to ensure clear and consistent structuring of communication and data usage within the network.

[0075] In a further step S7, the parameterization data is transferred to the field device 14, 16, 18, 20. There, it can be stored and adopted, in particular as parameters for the subsequent operation of the field device 14, 16, 18, 20.

[0076] In another example of the procedure, a field device 14, 16, 18, 20, such as a roller motor, can be put into operation. If a field device 14, 16, 18, 20 is already configured on one of the CANopen ports but is not yet operational, various methods can be used to address the field device 14, 16, 18, 20, for example, via the LSS service or NMT commands. Once a field device has been found, a valid node ID is assigned to it if necessary. It is then in the "preoperational" state and ready for configuration or parameterization. By querying specific CANopen objects, the manufacturer and / or type of the field device, such as the motor type of the connected motor, are determined. This corresponds to an identification step. If a known field device, such as a CANopen drive, is recognized, targeted configuration or parameterization and subsequent commissioning can be performed.In particular, various methods are tried one after the other until the necessary data for the identification of the field device 14, 16, 18, 20 can be successfully determined.

[0077] During operation, knowledge of the field device type (14, 16, 18, 20), such as the motor type, can also be used to evaluate manufacturer-specific objects. The CANopen object list can be queried and evaluated cyclically. Some examples of objects include: current motor current, motor temperature, maintenance data such as operating hours, and similar information. These objects are sometimes structured in a manufacturer-specific way and can be used with information from the device profile. Reference symbol list 10 System 12 Control device 14-20 Field device, roller motor 30 entrance ports, connection 32 Control module 34 output ports, connection B bus system, CAN bus (CANopen) S1, S2, S2a, S3, S4, S5, S6, S7 step QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] EP 2 675 113 A1

[0005] EP 4120636 A1

[0006] CN 104993583 A

[0007]

Claims

[1] Method for controlling, in particular for commissioning, a field device (14, 16, 18, 20) via a bus system (B), wherein - an initial response of the field device (14, 16, 18, 20) is performed, whereby ◯ first, an initial response routine is executed to assign address information to the field device (14, 16, 18, 20), and ◯ Subsequently, if the first response routine could not be completed successfully, at least a second alternative response routine is executed to assign the address information to the field device (14, 16, 18, 20); - a communication connection with the field device (14, 16, 18, 20) is established using the address information; - Field device detection data of the field device (14, 16, 18, 20) can be retrieved; - a device profile is assigned to the field device (14, 16, 18, 20) based on the field device recognition data; - parameterization data is determined depending on the device profile; and - the parameterization data are transferred to the field device (14, 16, 18, 20). [2] Method according to claim 1, characterized by , that the field device (14, 16, 18, 20) is a sensor or an actuator, in particular a motor such as a roller motor (14, 16, 18, 20). [3] Method according to any one of the preceding claims, characterized by , that the field device (14, 16, 18, 20) is controlled via a CAN bus (B), in particular by means of the CANopen protocol. [4] Method according to claim 3, characterized by , that the address information includes a node ID assigned to the field device (14, 16, 18, 20). [5] Method according to any one of the preceding claims, characterized by , that the device profile concerns a CANopen profile assigned to the field device (14, 16, 18, 20). [6] Method according to any one of the preceding claims, characterized bythat the first and / or second address routine includes a dynamic assignment of the address information (Node-ID), in particular through a Layer-Setting-Service (LSS), and / or an alternative method for assigning the address information (Node-ID). [7] Method according to any one of the preceding claims, characterized by Furthermore, data scaling occurs depending on the device profile, such as unit conversion. [8] Control device (12) for controlling, in particular for commissioning, a field device (14, 16, 18, 20) via a bus system (B), comprising - at least one connection (34) for a field device (14, 16, 18, 20), and - a control module (32) configured to perform the following steps: o initial response of the field device(14, 16, 18, 20), wherein ▪ first, an initial response routine is executed to assign address information to the field device (14, 16, 18, 20), and ▪ Subsequently, if the first response routine could not be completed successfully, at least a second alternative response routine is executed to assign the address information to the field device (14, 16, 18, 20); ◯ Establishing a communication link with the field device (14, 16, 18, 20) using the address information; ◯ Retrieving field device detection data from the field device (14, 16, 18, 20); ◯ Assigning a device profile based on field device detection data; • Determining parameterization data depending on the device profile; and ◯ Transferring the parameterization data to the field device (14, 16, 18, 20). [9] Computer program product comprising instructions, the execution of which by means of a processor can control a control device to execute the method according to one of the preceding method claims.

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