Method for determining a bus subscriber arrangement in an automation network, and automation network

Abstract

In order to determine a bus subscriber arrangement in an automation network, the following steps are carried out: outputting a data packet by a control bus subscriber on a data line, wherein when the data packet is received by the one input / output port on the outward path, each bus subscriber captures an outward-path timestamp and when the data packet is received by the other input / output port on the return path, each bus subscriber captures a return-path timestamp; correlating the captured timestamps of each bus subscriber by forming a difference amount between the outward-path timestamp and the return-path timestamp of the bus subscriber, wherein for the last bus subscriber for which only a first timestamp is captured, the second timestamp is set to the same as the first timestamp; and sorting the difference amounts starting from the largest value to the smallest value in order to ascertain the set-up sequence of the bus subscribers starting from the control bus subscriber as a set-up line of the bus subscribers.

Description

[0001] Method for determining a bus subscriber arrangement in an automation network and automation network

[0002] The invention relates to a method for determining a bus subscriber arrangement in an automation network.

[0003] This patent application claims priority from German patent application DE 10 2023 131 495.5, the disclosure of which is hereby incorporated by reference.

[0004] Fieldbus systems that transmit messages based on the Ethernet protocol are often operated in the form of a control bus device, i.e. a central control unit or master device, and a subordinate bus device or subordinate unit in a system or machine, which is / are controlled by the control bus device. The control bus device is the central controller, which has bus access authorization and can output data to the fieldbus. The subordinate bus devices or subordinate units in the fieldbus system are the field devices, such as I / O devices, drives, measuring transducers, etc. They do not have bus access authorization and may only acknowledge received data and transmit data upon request from the control bus device.

[0005] The control bus device can, for example, form a so-called MainDevice (abbreviated to M Device), and the subordinate bus device can, for example, form a SubordinateDevice (abbreviated to SubDevice). In other words, the control bus device can dictate the communication behavior of the subordinate bus device.

[0006] Typically, in automation systems, a programmable logic controller (PLC) cyclically executes control processes to generate output data for subordinate bus devices and / or other subordinate bus devices based on input data from these and / or other subordinate bus devices, which are sent by a control bus device.

[0007] After completion of a cyclic control process of the PLC, the control bus station sends the output data in the form of Ethernet data packets or Ethernet frames (also known as Ethernet telegrams) over the fieldbus. The subordinate bus stations extract the output data assigned to the respective subordinate bus station from the Ethernet data packets and use this output data to execute a local station process. The data determined by the local station process is then transmitted from the subordinate bus station to the control bus station and subsequently transmitted to the PLC as input data for one of the next cyclic control processes and used by the control bus station. The subordinate bus station enters the input data in an Ethernet data packet sent by the control bus station.

[0008] When using the real-time EtherCAT protocol within a control bus node and subordinate bus node system, the Ethernet data packets containing the EtherCAT datagrams are processed by the subordinate bus nodes in a continuous flow. This means that processing occurs in parallel with the continuous reception of a data packet. Each subordinate bus node on the fieldbus is assigned its own data block area in the payload area of ​​the data packet.

[0009] Instead of a control bus station / subordinate bus station system, a fieldbus system can also be operated using a provider-consumer model. In the provider-consumer model, each station—that is, both the control bus station and the subordinate bus stations, i.e., field devices on the fieldbus—provides data that can be requested by one or more of the other bus stations. The data is provided cyclically. The real-time PROFINET protocol, for example, uses the provider-consumer model for Ethernet data packet exchange, with the data packets also forming Ethernet data packets. The data in the payload area of ​​the Ethernet data packet is then intended for the respective consumer bus station specified in the destination address.

[0010] An automation network generally comprises a plurality of bus devices, of which at least one is designed as the above-mentioned control bus device (MainDevice), and a plurality of bus devices are designed as the above-mentioned plurality of subordinate bus devices (SubordinateDevices). The control bus device and the plurality of subordinate bus devices are each connected to one another via at least one data line. The control bus device can, for example, form software, i.e. a control program, for an industrial computer or an industrial controller for a plant or machine. The plurality of subordinate bus devices can be connected via the at least one data line in such a way that, for example, the arrangement of the subordinate bus devices deviates from a structure sequence of the subordinate bus devices.The structure sequence of the subordinate bus participants can correspond to a configured sequence of the subordinate bus participants in the control program, i.e. it can specify the sequence in which the subordinate bus participants are physically connected to the at least one data line.

[0011] However, the physical arrangement of the subordinate bus devices determines a processing order for the subordinate bus devices. The processing order is the order in which the subordinate bus devices process the data packets from the control bus device.

[0012] If the setup sequence and processing sequence of the subordinate bus participants differ from each other, for example because a subordinate bus participant is rotated with respect to its orientation, i.e. is connected conversely via a plurality of input / output ports of the subordinate bus participant to the at least one data line, this can lead to serious impairments in the control process.

[0013] If the automation network with the majority of subordinate bus devices (hereinafter referred to as the "majority of bus devices") is configured, for example, as at least one robot arm of an industrial robot, which is designed as a so-called "cobot" for direct interaction or collaboration with humans, the individual bus devices, as modules of the robot arm, which can form the aforementioned plurality of bus devices, may not be correctly controlled for data processing if the processing sequence deviates from the setup sequence. This can have extremely critical consequences, especially when interacting with humans, and poses an enormous risk potential that must be avoided.

[0014] It is therefore an object of the present invention to provide an improved method for determining a bus subscriber arrangement in an automation network.

[0015] This object is achieved by the independent claims. Further advantageous embodiments of the invention are specified in the dependent claims.

[0016] Disclosure of the invention An automation network comprises a control bus subscriber and a plurality of bus subscribers, wherein the bus subscribers are connected to one another starting from the control bus subscriber via a data line network with at least one data line in a ring structure, wherein each bus subscriber has at least a first and a second input / output port, wherein the first input / output port and the second input / output port each have a receiving unit for receiving data packets and a transmitting unit for transmitting data packets, wherein a data connection exists 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, wherein the data line has a forward path and a return path for data packets output by the control bus subscriber,wherein the outgoing path for the data packets leads from the control bus subscriber to the receiving unit of one input / output port of the first bus subscriber, extends over the data connection between the receiving unit of one input / output port and the transmitting unit of the other input / output port of the first bus subscriber, leads from the transmitting unit of the other input / output port of the first bus subscriber to the receiving unit of one input / output port of the next bus subscriber, extends over the data connection between the receiving unit of one input / output port and the transmitting unit of the other input / output port of the next bus subscriber, and continues from the transmitting unit of the other input / output port of the next bus subscriber, if another bus subscriber is connected to the other input / output port via the data line, to the last bus subscriber,to whose other input / output port no bus subscriber is connected via the data line, whereby in the last bus subscriber the data packets are routed from the outgoing path to the return path, whereby the return path extends via the data connection between the receiving unit of the other input / output port of the last bus subscriber and the transmitting unit of one input / output port of the last bus subscriber, leads from the transmitting unit of one input / output port of the last bus subscriber to the receiving unit of the other input / output port of the preceding bus subscriber, 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 preceding bus subscriber,and from the transmitting unit of one input / output port of the preceding bus device via other preceding bus devices to the control bus device. To determine a bus device arrangement in the automation network, the following steps are performed:

[0017] Outputting a data packet by the control bus subscriber on the data line, wherein each bus subscriber records an outbound time stamp upon receipt of the data packet through one input / output port on the outbound path and a return time stamp upon receipt of the data packet through the other input / output port on the return path, correlating the recorded time stamps of each bus subscriber by forming a difference between the outbound time stamp and the return time stamp of the bus subscriber, wherein for the last bus subscriber for which only a first time stamp is recorded, the second time stamp is set equal to the first time stamp,

[0018] Sorting the difference amounts from the largest value to the smallest value in order to determine the setup sequence of the bus devices starting from the control bus device as a setup line of the bus devices.

[0019] Each bus subscriber can have a processing unit which is 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 in order to process data packets, wherein when forming the difference between the outgoing time stamp and the return time stamp of the bus subscriber, the first value is the time stamp assigned to the first input / output port and the second value is the time stamp of the bus subscriber assigned to the second input / output port, and wherein the sign of the difference between the time stamp assigned to the first input / output port and the time stamp assigned to the second input / output port is evaluated in order to determine the processing order of the bus subscribers within the setup order of the bus subscribers.

[0020] The processing units in the bus devices can process the data packets in a continuous process, with the EtherCAT transmission protocol being used as the communication protocol in the automation network.

[0021] The time stamps in the bus participant can be recorded using a clock functionality of the bus participant, whereby the clock functionality provides the bus participant with a local system time.

[0022] At least one bus subscriber can have a further second input / output port with a receiving unit for receiving data packets and a transmitting unit for transmitting data packets, wherein the further second input / output port is 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, wherein the receiving unit of the second input / output port is connected to the transmitting unit of the further second input / output port and the receiving unit of the further second input / output port is connected to the transmitting unit of the first input / output port, wherein further bus subscribers can be integrated into the ring structure starting from the further second input / output port via the data line network with a further data line,wherein the outgoing path for the data packets leads from the transmitting unit of the further second input / output port to the receiving unit of one input / output port of another bus subscriber, extends over the data connection between the receiving unit of one input / output port and the transmitting unit of the other input / output port of the further bus subscriber, leads from the transmitting unit of the other input / output port of the first bus subscriber to the receiving unit of one input / output port of the next bus subscriber, extends over the data connection between the receiving unit of one input / output port and the transmitting unit of the other input / output port of the next bus subscriber, and further from the transmitting unit of the other input / output port of the next bus subscriber, if another bus subscriber is connected to the other input / output port via the data line, to the last bus subscriber,to whose other input / output port no bus subscriber is connected via the data line, wherein in the last bus subscriber the data packets are routed from the outgoing path to the return path, wherein the return path extends via the data connection between the receiving unit of the other input / output port of the last bus subscriber and the transmitting unit of one input / output port of the last bus subscriber, leads from the transmitting unit of one input / output port of the last bus subscriber to the receiving unit of the other input / output port of the preceding bus subscriber, 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 preceding bus subscriber, and leads from the transmitting unit of one input / output port of the preceding bus subscriber via further preceding bus subscribers to the receiving unit of the further second input / output port,wherein the differences formed between the outbound time stamp and the return time stamp of the bus participants are sorted from the largest value to the smallest value to determine the setup sequence of the bus participants starting from the control bus participant, for the bus participants connected to the further second input / output port separately from the other bus participants in order to determine a further setup line of the bus participants starting from the further second input / output port.

[0023] The time stamps can each be stored in a memory unit of the bus participant, whereby the control bus participant can read from the memory unit of the bus participant by sending another data packet in order to receive the recorded time stamps and to determine the setup sequence of the bus participants.

[0024] A method is proposed for determining a setup sequence of bus devices in an automation network, wherein the automation network comprises a plurality of bus devices, each having a plurality of input / output ports. The method comprises the following steps:

[0025] Providing a data packet for the plurality of bus participants in a first step, wherein the plurality of bus participants are connected to one another via a data line network with at least one data line which forms a forward path and / or a return path for the data packet,

[0026] Receiving the data packet on the outward path via a first input / output port or a second input / output port of a bus subscriber and detecting a first time stamp of the bus subscriber in a second step, wherein the first input / output port and / or the second input / output port is connected to the at least one data line and the first time stamp of the bus subscriber is designed to assign a unique time to the reception of the data packet via the first input / output port as an event,

[0027] Outputting the data packet via a second input / output port or first input / output port of the bus participant on a forward path to another bus participant in a third step,

[0028] Receiving the data packet on a forward path via a first input / output port of the further bus subscriber and detecting a first time stamp of the further bus subscriber in a fourth step, wherein the first time stamp of the further bus subscriber is designed to assign a unique time to the reception of the data packet via the first input / output port of the further bus subscriber as an event,

[0029] Receiving the data packet on a return path via the second input / output port of the bus subscriber via the at least one data line and detecting a second time stamp of the bus subscriber in a fifth step, wherein the second time stamp of the bus subscriber is designed to assign a unique time to the reception of the data packet via the second input / output port of the bus subscriber as an event,

[0030] Outputting the data packet via the first input / output port of the bus participant on the return path in a sixth step, and

[0031] In a seventh step, the first time stamp and the second time stamp of a bus participant are related to each other in order to determine the order of the majority of bus participants based on this.

[0032] Furthermore, a method for controlling a plurality of bus devices in an automation network is proposed. The method for controlling the plurality of bus devices comprises the following steps:

[0033] Providing a plurality of bus participants in an automation network in a first step,

[0034] Carrying out a method for determining a setup sequence of a plurality of bus participants of the automation network according to the above and / or following features in a second step, for assigning a processing sequence that indicates the sequence in which the plurality of bus participants process a data packet to the setup sequence, i.e. the sequence in which the plurality of bus participants are physically connected to the at least one data line, and controlling the plurality of bus participants in the automation network in a third step, based on the setup sequence of the bus participants determined in the second step.

[0035] Furthermore, a bus device for an automation network is proposed, which is particularly designed as a main device, i.e., a control bus device for controlling and coordinating subordinate devices, i.e., subordinate bus devices. The bus device, particularly designed as a main device, is designed to execute a method for determining a setup sequence of a plurality of bus devices of the automation network according to the above-mentioned and / or subsequent features and / or a method for controlling a plurality of bus devices of an automation network according to the above-mentioned features.

[0036] Furthermore, a bus subscriber for an automation network is proposed, which is designed in particular as a subordinate device, i.e. as a subordinate bus subscriber that can be controlled by a main device, i.e. a control bus subscriber. The bus subscriber, designed in particular as a subordinate device, has a plurality of input / output ports. A first input / output port and / or a second input / output port of the plurality of input / output ports are each connected to at least one data line in order to receive a data packet via the first input / output port or the second input / output port of the bus subscriber via the at least one data line on an outgoing path and to output the data packet via the second input / output port or the first input / output port via the at least one data line on the outgoing path to another bus subscriber.Upon receipt of the data packet via the first input / output port, the bus subscriber is designed to record a first time stamp of the bus subscriber. The first time stamp of the bus subscriber is designed to assign a unique time as an event to the receipt of the data packet via the first input / output port of the bus subscriber. Upon receipt of the data packet via the second input / output port via the at least one data line of the data packet, the bus subscriber is designed to record a second time stamp of the bus subscriber. The second time stamp of the bus subscriber is designed to assign a unique time as an event to the receipt of the data packet via the second input / output port of the bus subscriber. The bus subscriber is designed to output the data packet on the return path via the first input / output port or the second input / output port via the at least one data line.

[0037] Finally, an automation network is proposed. The automation network comprises a plurality of bus devices connected to one another via at least one data line. At least one of the plurality of bus devices is configured according to the above features, in particular as a main device, i.e., a control bus device for controlling and coordinating subordinate devices, i.e., lower-level bus devices. At least one of the plurality of bus devices is configured according to the above and / or following features, in particular as a subordinate device, i.e., a lower-level bus device that can be controlled by a main device, i.e., a control bus device.

[0038] The new idea consists in using an existing clock functionality of a bus participant to record at least a first timestamp upon receipt of a data packet via a first input / output port of a bus participant of the data packet, as well as a second timestamp upon receipt of the data packet via a second input / output port of the bus participant of the data packet. Based on the recorded at least first and second timestamps of a bus participant, the physical connection sequence of the bus participants on the at least one data line can be determined by applying the proposed method for determining a setup sequence of bus participants and the associated devices. The processing sequence of the bus participants with which the bus participants process the data packets can be assigned to the determined setup sequence.

[0039] If the processing sequence and build sequence of a bus subscriber match, the bus subscriber can have a first arrangement, whereby the first arrangement indicates that a data packet to the corresponding bus subscriber first passes through the first input / output port of the bus subscriber on the outward path. This means that in the first arrangement, the first input / output port of the bus subscriber faces the control bus subscriber. It is understood that the data packet first passes through the second input / output port of the bus subscriber, having the first arrangement, on the return path. Mathematically, the difference between the time the data packet is received at the second input / output port minus the time the data packet is received at the first input / output port is calculated and the sign is evaluated.This means the reception time of the second timestamp for the receipt of the data packet via the second input / output port minus the reception time of the first timestamp for the receipt of the data packet via the first input / output port. The reception time or the second timestamp of a data packet at the second input / output port of a bus device is greater than the reception time or the first timestamp of a data packet at the first input / output port of the bus device.

[0040] If the setup sequence and processing sequence differ from one another, the bus subscriber can have a second arrangement, wherein the second arrangement specifies that a data packet on the outward path to the corresponding bus subscriber first passes through the second input / output port of the bus subscriber. This means that in the second arrangement, the second input / output port of the bus subscriber faces the control bus subscriber. It is understood that on the return path, the data packet first passes through the first input / output port of the bus subscriber having the second arrangement. Mathematically, the difference between the time the data packet was received at the second input / output port minus the time the data packet was received at the first input / output port is calculated, and the sign is evaluated.This means the reception time of the first timestamp for the reception of the data packet via the second input / output port minus the reception time of the second timestamp for the reception of the data packet via the first input / output port. The reception time or the first timestamp of a data packet at the second input / output port of a bus device having the second arrangement is smaller than the reception time or the second timestamp of a data packet at the first input / output port of the bus device.

[0041] The proposed methods and devices are advantageously suitable for all automation networks and bus devices that each carry a data packet on both the outbound and return paths. The outbound and return paths can each be formed by separate data lines. However, the automation network is preferably designed to use the EtherCAT transmission protocol as the communication protocol.

[0042] This idea helps to improve the safety of the automation network if the automation network is designed, for example, as at least one robot arm, i.e. as a cobot for interaction with people. This is because based on the proposed method, it is not critical whether a bus device has the first arrangement or the second arrangement, since the setup sequence of the bus devices is recorded and the processing sequence can be assigned to the recorded setup sequence. It is not necessary to change the setup sequence of the bus devices already defined in the control program. Instead, the setup sequence of the bus devices is reliably maintained. The method for detecting the setup sequence of bus devices is advantageously suitable not only for maintenance purposes, but also for generally being able to easily determine an arrangement of bus devices.

[0043] In a further embodiment, the first time stamp and the second time stamp can be recorded on the basis of a clock functionality of a bus participant. The clock functionality provides the bus participant with a local system time and can be embodied as a hardware-implemented local clock. A processing unit of the bus participant, which is embodied in particular as a subordinate bus participant (subdevice), can, for example, have the hardware-implemented local clock, e.g. with a size of 64 bits and a resolution of 1 bit = 1 ns. This advantageously allows known and established technology to be utilized. The local time stamp functionality is known in automation networks that use the real-time EtherCAT transmission protocol, for example, under the term “distributed clocks” and stands for a logical network of distributed clocks that makes it possible to synchronize the local time of all bus participants to the same time.

[0044] A subordinate bus device that supports the "Distributed Clocks" functionality includes its own clock, which initially operates locally after power-up, based on its own clock source (e.g., quartz, oscillator, etc.). A selected subordinate bus device from the majority of bus devices in the automation network represents the reference clock, to which the clocks of the other subordinate bus devices and the control bus device are synchronized. The reference clock thus represents the system time.

[0045] The coordination and synchronization of the individual clocks is performed automatically and continuously by the control bus device if it supports the "Distributed Clocks" functionality – such as the control bus device from Beckhoff's TwinCAT EtherCAT MainDevice. For this purpose, the EtherCAT MainDevice sends a special EtherCAT datagram at short intervals, into which the EtherCAT SubDevice with the reference clock enters its current time. The short intervals are designed to be so frequent that the clocks of the subordinate bus devices do not diverge within the specified limits. This information is then read from the same circulating datagram by all other EtherCAT subdevices with their own subordinate clocks.

[0046] This is possible due to the ring structure of an EtherCAT automation network, where the reference clock is topologically positioned before all other subdevice clocks. The ring structure refers to a first data line that forms a forward path for the circulating Ethernet data packet, comprising EtherCAT datagrams, and a second data line that forms a return path for the Ethernet data packet. The individual subdevices are connected to each other via the first and second data lines. Therefore, by default, the first "Distributed Clocks"-capable subdevice is selected by the EtherCAT control bus device as the reference clock.

[0047] In summary, one of the EtherCAT subdevices contains the reference clock, all other EtherCAT bus devices, including the EtherCAT main device, represent subordinate clocks. The distributed clocks functionality allows incoming events to be provided with an exact time stamp, i.e. latched or provided with latch signals, and synchronous output signals (sync signals) to be generated.

[0048] However, the proposed method for detecting the setup sequence and the proposed automation network comprising the majority of bus nodes do not use synchronized distributed clock functionality as described above, but rather exploit the fact that a bus node has clock functionality, i.e., a local clock. This local clock is used to detect the first and second timestamps, as well as the third and fourth timestamps if there are more than two input / output ports of a bus node, thus latching the respective reception time from the bus node. It is understood that this feature is not limited to automation networks that use the EtherCAT transmission protocol, but can also be implemented in other automation networks.

[0049] In a further embodiment of the method for determining a setup sequence of the bus subscribers, the at least one data line is configured as a forward data line and a return data line, each of which is connected to the first and second input / output ports of a bus subscriber of the plurality of bus subscribers. The forward data line forms the forward path of the data packet, and the return data line forms the return path of the data packet. A processing unit is arranged between the first input / output port of the bus subscriber and the second input / output port of the bus subscriber. The processing unit is connected, in particular, to the forward data line on the forward path of the data packet.The bus participant is designed to capture the first time stamp upon receipt of a data packet via the first input / output port and the outgoing data line of the data packet and to forward the data packet, in particular via the outgoing data line, to the processing unit.

[0050] The processing unit is designed to process the data packet as it passes through, i.e., in parallel with the continuous reception of the data packet via the first input / output port, and in particular to forward the data packet via the outgoing data line to the second input / output port of the bus subscriber. The bus subscriber is designed to output the data packet via the second input / output port via the outgoing data line to another bus subscriber connected via the second input / output port. Upon receipt of the data packet via the return data line, the bus subscriber is designed to capture the second timestamp and output the data packet via the first input / output port and the return data line on the return path.

[0051] The automation network preferably uses the EtherCAT transmission protocol in order to be able to utilize established technology. The handling of EtherCAT communication and in particular the "Distributed Glocks" functionality in a bus participant configured as an EtherCAT subdevice is handled by the processing unit, which is preferably configured as an EtherCAT subdevice controller (ESC), i.e., as an electronic component (chip) that can be implemented as an ASIC or programmable FPGA or similar. Each EtherCAT subdevice includes such a processing unit configured as an ESC, so that cyclic and acyclic process data can be exchanged from the main device with the subdevice via the EtherCAT fieldbus, e.g., the first and second data lines. The ESC can also, for example, manage port information that provides information about the number of input / output ports of a subdevice. The ESC therefore manages the local "Distributed Glocks" functionality, e.g.the hardware-implemented local clock with a size of 64 bits (less often: 32 bits) and a resolution of 1 bit = 1 ns, with the associated actions, provided that the EtherCAT subdevice supports this functionality.

[0052] In a further embodiment of the method for determining the build sequence, the correlating in the seventh step comprises calculating a difference between the second timestamp for receiving the data packet via the second input / output port and the first timestamp for receiving the data packet via the first input / output port of a bus node. This advantageously enables the use of simple mathematics or simple operations and reduces computational effort. This increases performance, and results can be obtained quickly.

[0053] If a bus subscriber generally has no other bus subscriber connected to the second input / output port of the bus subscriber in the first arrangement, the second timestamp of the bus subscriber is set equal to the first timestamp of the bus subscriber, i.e. the second timestamp corresponds to the first timestamp. It goes without saying that this also applies in a similar way to the second arrangement of a bus subscriber. For such a bus subscriber, the aforementioned difference can be formed without any problems, and the advantages explained above apply accordingly. In a further embodiment of the method for determining a setup sequence, the difference determined in the seventh step is evaluated by considering a sign. If the sign is positive, a bus subscriber is arranged such that the processing sequence matches the setup sequence.The setup sequence is the order in which the bus devices are physically connected to the at least one data line, and the processing sequence specifies the order in which the bus devices process a data packet. Alternatively, if the sign is negative, a bus device is arranged such that the processing sequence and the setup sequence differ from each other.

[0054] The processing order of the bus nodes can be easily determined by examining the sign of the difference formed in the seventh step. By calculating the absolute values ​​of the differences and sorting the absolute values, the build-up order of the bus nodes can be easily determined.

[0055] In a further embodiment of the method for determining a setup sequence, the seventh step further comprises calculating an amount of the determined difference for each bus participant, thereby determining the setup sequence of the bus participants. The calculated amounts are sorted for the majority of bus participants, in particular sorted in ascending order. The smaller the amount of the determined difference, the further the respective bus participant is located from a bus participant providing the data packet in the first step.

[0056] By sorting the amounts, the order in which the bus nodes are constructed can be easily determined. The larger the amount, the closer the bus node is to the control bus node. The smaller the amount, the farther away it is. The processing order can be determined by considering the sign of the difference formed in the seventh step. This advantageously allows for the use of simple mathematics and simple operations and reduces computational effort. This increases performance, and results can be obtained quickly.

[0057] In a further embodiment of the method for determining a setup sequence, the plurality of bus devices can be arranged individually or in modules grouped together in multiple bus devices. Advantageously, a specific arrangement of the bus devices is not required to apply the method for determining the setup sequence of the bus devices, since the proposed method can detect deliberate interchange of individual bus devices as well as deliberate interchange of entire modules grouped together in multiple bus devices. Thus, the proposed method and the associated devices can be used flexibly.

[0058] In a further embodiment of the automation network, the automation network with the plurality of bus participants is designed as at least one robot arm of an industrial robot, comprising a plurality of movable axes. The plurality of movable axes of the at least one robot arm are each designed as individual bus participants, the setup sequence of which can be determined using a method for determining the setup sequence of the plurality of bus participants according to the above-mentioned and / or subsequent features and / or which can be controlled using a method for controlling the plurality of bus participants according to the above-mentioned features in accordance with the setup sequence of the plurality of bus participants. The setup sequence specifies the order in which the plurality of bus participants are physically connected to the at least one data line.

[0059] In this way, the security of the automation network can be advantageously improved, especially when the automation network is configured as at least one robot arm, a cobot. Based on the proposed methods and devices, for example, reliable control of the individual axes of the at least one robot arm is possible – or, in general, reliable control of the bus devices or modules is possible, regardless of whether the majority of bus devices comprise the first arrangement or the second arrangement.

[0060] In a further embodiment of the automation network, the majority of bus devices of the automation network can be arranged in modules grouped together, each containing several bus devices. The modules form, in particular, tables.

[0061] In this way, the security of the automation network can be advantageously improved, especially when the modules of the automation network are configured as tables. Based on the proposed methods and devices, for example, reliable control of the modules, e.g., as tables, to multiple bus devices is possible – or, in general, reliable control of the bus devices is possible.

[0062] In a further embodiment of the method for determining the setup sequence and the bus subscriber, a processing unit is arranged between the first input / output port of the bus subscriber and the second input / output port of the bus subscriber. The processing unit is connected in particular to a forward data line on a forward path of the data packet. The bus subscriber is designed to capture the first timestamp upon receipt of a data packet via the first input / output port and the first data line of the data packet and to forward the data packet, in particular via the forward data line, to the processing unit. The processing unit is designed to process the data packet as it passes through, i.e., in parallel with the continuous reception of the data packet via the first input / output port, and in particular to forward the data packet via the forward data line to the second input / output port of the bus subscriber.The bus participant is configured to output the data packet via the second input / output port over the first line to the other bus participant connected via the second input / output port. Upon receiving the data packet via the return data line, the bus participant is configured to capture the second timestamp and output the data packet via the first input / output port and the return data line on the return path.

[0063] The processing of a data packet passing through a processing unit of a bus node occurs on the outward path of the data packet, provided that the data packet passes through the processing unit on the outward path. In this case, a bus node has the first arrangement. If a bus node has the second arrangement, the data packet passes through the processing unit on the return path, and the processing of the data packet occurs on the return path of the data packet. This improves the traceability and transparency of the automation network, including all of its bus nodes.

[0064] In a further embodiment of the method for determining the setup sequence, the bus subscriber and the further bus subscriber connected via the first or second input / output port of the bus subscriber via the at least one data line form a first line, provided that the bus subscriber has a third input / output port to which at least one first further bus subscriber is connected via at least one further data line. The at least one first further bus subscriber connected via a third input / output port of the bus subscriber via the at least one further data line forms a second line. The at least one further data line forms a forward path and / or a return path for the data packet.

[0065] The proposed methods and devices are advantageously not limited to a configuration of bus devices with a specific number of input / output ports, but can be flexibly used for various configurations. This facilitates compatibility and improves clarity and traceability when grouping the bus devices connected via the input / output ports into different lines. The individual bus devices of a line can be recorded as required. Furthermore, it is possible for the control bus device to output a separate data packet for each line.

[0066] In a further embodiment of the proposed method and of the proposed bus subscriber, the bus subscriber is designed to capture the first time stamp and output the data packet via the first line on the outward path if the bus subscriber receives the data packet via the first input / output port, so that a bus subscriber on the first line can capture the first time stamp and / or the second time stamp. The bus subscriber is designed to output the data packet, upon receipt on the return path via the first line, via the second input / output port of the bus subscriber, and via a third input / output port of the bus subscriber to a second line on the outward path so that the at least one first further bus subscriber on the second line can capture the first time stamp and / or the second time stamp.If the bus participant receives the data packet via the third input / output port on the return path of the second line, the bus participant is designed to record a third timestamp and output the data packet via the first input / output port on the return path via the first line.

[0067] If the bus subscriber has the second arrangement, the bus subscriber is designed, provided the bus subscriber receives the data packet via the second input / output port, to capture the second time stamp and to output the data packet via the third input / output port via the second line on the outward path so that the at least one first further bus subscriber on the second line can capture the first time stamp and / or the second time stamp. Upon receipt of the data packet on the return path via the second line via the third input / output port of the bus subscriber, the bus subscriber is designed to capture a third time stamp and output the data packet via the first input / output port to the first line on the outward path. A bus subscriber on the first line can then capture the first time stamp and / or the second time stamp.The bus participant is designed to capture the first time stamp and output the data packet via the second input / output port on the return path of the first line if the bus participant receives the data packet via the first input / output port on the return path via the first line.

[0068] Advantageously, a third timestamp can be recorded using the same principle as the first and second timestamps. However, the third timestamp is not included in the aforementioned difference calculation in the seventh step of the bus node identification process. This is because the third timestamp is only recorded when the data packet is received via the third input / output port of the bus node on the return path, while no separate timestamp is recorded for the reception of the data packet on the outward path via the third input / output port. This has already been recorded as the second timestamp when the data packet was received via the second input / output port of the bus node. The internal forwarding of the data packet to the corresponding ports is therefore not included in the difference calculation in the seventh step as mentioned above.

[0069] In a further embodiment of the method for determining the setup sequence, the bus subscriber and the further bus subscriber connected via the first input / output port of the bus subscriber via the at least one data line form a first line, provided that the bus subscriber has a third input / output port and a fourth input / output port, to each of which at least one further bus subscriber is connected via at least one further data line. The at least one first further bus subscriber connected via the third input / output port of the bus subscriber via the at least one first further data line forms a second line. The at least one second further bus subscriber connected via the fourth input / output port of the bus subscriber via the at least one second further data line forms a third line. The at least one first further data line forms a forward path and / or a return path for the data packet.The at least one second additional data line forms a forward path and / or a return path for the data packet.

[0070] The proposed methods and devices are advantageously not limited to a configuration of bus devices with a specific number of input / output ports, but can be flexibly used for various configurations. This facilitates compatibility and improves clarity and traceability when grouping the bus devices connected via the input / output ports into different lines. The individual bus devices of a line can be recorded as required. Furthermore, it is possible to output a separate data packet from the control bus device for each line.

[0071] In a further embodiment of the method for determining the setup sequence of bus subscribers and of the bus subscriber, the bus subscriber comprises a third input / output port and a fourth input / output port, to each of which at least one further bus subscriber is connected via at least one further data line.

[0072] The bus subscriber and the additional bus subscriber connected via the first input / output port or second input / output port of the bus subscriber via the at least one data line form a first line. The at least one first additional bus subscriber connected via the third input / output port via the at least one first additional data line forms a second line. The at least one second additional bus subscriber connected via the fourth input / output port of the bus subscriber via the at least one second additional data line forms a third line. A processing unit is arranged between the first input / output port of the bus subscriber and the third input / output port of the bus subscriber. The processing unit is connected to the outgoing data line on the outgoing path of the data packet.If the bus participant receives the data packet via the first input / output port, the bus participant is designed to capture the first time stamp and to forward the data packet, in particular via the outgoing data line, to the processing unit. The processing unit is designed to process the data packet in transit, i.e., in parallel with the continuous reception of the data packet via the first input / output port, and in particular to forward the data packet via the outgoing data line to the fourth input / output port, to output the data packet via the third line on the outgoing path via the fourth input / output port, so that the at least one second additional bus participant on the third line can capture a first time stamp and / or a second time stamp.The bus subscriber is designed to record a fourth time stamp upon receipt of the data packet via the fourth input / output port on the return path via the third line and to output the data packet via the second input / output port to the first line on the outward path so that a bus subscriber on the first line can record the first time stamp and / or the second time stamp. If the bus subscriber receives the data packet via the second input / output port, the bus subscriber is designed to record a second time stamp and to output the data packet via the third input / output port on the outward path to the at least one first further bus subscriber on the second line so that the at least one first further bus subscriber on the second line can record a first time stamp and / or a second time stamp.If the bus participant receives the data packet via the third input / output port on the return path of the second line, the bus participant is designed to capture a third time stamp and to output the data packet via the first input / output port on the return path via the first line.

[0073] If the bus subscriber, comprising four input / output ports, has the second arrangement, the bus subscriber is configured, provided the bus subscriber receives the data packet via the second input / output port, to capture the second time stamp and output the data packet via the second line on the outward path via the third input / output port, so that the at least one first additional bus subscriber on the second line can capture a first time stamp and / or a second time stamp. The data packet does not pass through the processing unit on the outward path, but rather on the return path, so that the processing unit processes the data packet on the return path.When the data packet is received via the third input / output port of the bus subscriber on the return path via the second line, the third time stamp is recorded by the bus subscriber and the data packet is output via the first input / output port to the first line on the outward path so that a bus subscriber on the first line can record the first time stamp and / or the second time stamp. If the bus subscriber receives the data packet via the first input / output port, the first time stamp is recorded by the bus subscriber and the data packet is output via the fourth input / output port on the outward path to the at least one second additional bus subscriber on the third line on the outward path so that the at least one second additional bus subscriber on the third line can record a first time stamp and / or a second time stamp.If the bus participant receives the data packet via the fourth input / output port on the return path of the third line, the bus participant is designed to capture a fourth timestamp and output the data packet via the second input / output port on the return path via the first line.

[0074] Advantageously, a third and fourth timestamp can each be recorded according to the same principle as the first and second timestamps. However, the third and fourth timestamps are not included in the above-mentioned difference calculation in the seventh step of the method for identifying the bus participants. This is because the third timestamp is only recorded when the data packet is received via the third input / output port of the bus participant on the return path. Similarly, the fourth timestamp is only recorded when the data packet is received via the fourth input / output port on the return path. If the bus participant has the second arrangement, i.e. the data packet only passes through the processing unit on the return path, the data packet is processed on the return path by the processing unit. This improves the traceability and transparency of the automation network including all of its bus participants.

[0075] In a further embodiment of the method for determining a build-up sequence, separate data packets can be output for the first line and / or for the second line and / or for the third line.

[0076] This advantageously improves traceability and transparency.

[0077] In a further embodiment of the method for determining a setup sequence of bus participants and the bus participant, the first to fourth time stamps can each be stored in a memory unit, in particular a register unit, of a bus participant.

[0078] The bus node can comprise a memory unit, in particular a register unit, which the processing unit of the bus node can access. It is also conceivable for the processing unit of the bus node itself to comprise the memory unit. The control bus node can, for example, read the memory unit of a bus node by transmitting another data packet in order to obtain the recorded time stamps and, based on this, execute the seventh step of the method for determining the sequence of the bus nodes.

[0079] In a further embodiment of the method for determining the setup sequence of bus subscribers and the proposed bus subscriber, a further data packet is output to the plurality of bus subscribers in order to read out the memory units, in particular register units, of the plurality of bus subscribers with the first to fourth time stamps of the plurality of bus subscribers and, based thereon, to relate the first time stamp of a bus subscriber and the second time stamp of a bus subscriber to one another.

[0080] This advantageously improves traceability and transparency. In a further embodiment of the method for determining the setup sequence of bus nodes, the second step of the method for determining the setup sequence also includes processing the data packet, provided that the bus node is arranged such that the processing sequence of the bus node matches the setup sequence of the bus node.

[0081] Advantageously, the bus participant, provided that the corresponding bus participant is addressed, can write or read data in the second step of the above-mentioned procedure that is relevant, for example, for the control cycle.

[0082] In a further embodiment of the method, the processing sequence of the plurality of bus subscribers is detected by reading a first data field and / or a second data field and / or a third data field of an identification object and / or port information. The identification object forms a communication object that comprises multiple data fields for identifying a bus subscriber. For example, the identification object of a bus subscriber can be stored in a memory unit of the bus subscriber, which can be read by outputting a data packet from the control bus subscriber to the bus subscriber, so that the control bus subscriber can identify the number of input / output ports of a bus subscriber as well as the bus subscriber itself.The first data field of the identification object is configured as the product identifier of the bus device, the second data field of the identification object is configured as the version number of the bus device, and the third data field is configured as the manufacturer identifier of the bus device. The port information specifies how many input / output ports a bus device comprises.

[0083] The individual bus devices of the automation network can be identified for the various transmission protocols and access methods, regardless of the hierarchical structure of the automation network, using the so-called identification object of a bus device. The identification object (or so-called "identity object") forms a communication object that can contain one or more data fields for identifying a bus device. The first data field of the identification object can be designed as the product code of the bus device, the second data field of the identification object can be designed as the version number (so-called "revision number") of the bus device, and the third data field can be designed as the manufacturer ID of the bus device. In addition, a fourth data field can form a serial number. The first to fourth data fields can each contain UINT32 values.The version number can, for example, have a first data word (“Lo-Word”, bits 0-15) and a second data word (“Hi-Word”, bits 16-31).

[0084] The above-described properties, features, and advantages of this invention, as well as the manner in which they are achieved, will become clearer and more readily understood in connection with the following description of exemplary embodiments, which are explained in more detail in conjunction with the schematic drawings. They show:

[0085] Fig. 1 is a schematic representation of a method for determining a sequence of bus participants of an automation network according to a first embodiment;

[0086] Fig. 2 is a schematic representation of a section of the process in Fig. 1;

[0087] Fig. 3 is a schematic representation of a method for determining a sequence of bus participants of an automation network according to a second embodiment;

[0088] Fig. 4 is a schematic representation of a method for determining a sequence of bus participants of an automation network according to a third embodiment;

[0089] Fig. 5 is a schematic representation of a method for determining a sequence of bus participants of an automation network according to a fourth embodiment;

[0090] Fig. 6 is a schematic representation of a method for determining a sequence of bus participants of an automation network according to a fifth embodiment;

[0091] Fig. 7 is a schematic representation of a method for controlling a plurality of bus participants in an automation network; Fig. 8 is a schematic representation of a bus participant for an automation network according to a first embodiment;

[0092] Fig. 9 is a schematic representation of a bus participant for an automation network according to a second embodiment;

[0093] Fig. 10 is a schematic representation of a bus subscriber for an automation network according to a third embodiment;

[0094] Fig. 11 is a schematic representation of an automation network according to a first embodiment;

[0095] Fig. 12 is a schematic representation of an automation network according to a second embodiment;

[0096] Fig. 13 a shows a schematic first representation of an automation network according to a third embodiment;

[0097] Fig. 13 b is a schematic second representation of the automation network according to the third embodiment in Fig. 13 a;

[0098] Fig. 14 a shows a first schematic representation of an automation network according to a fourth embodiment;

[0099] Fig. 14 b shows a second schematic representation of the automation network according to the fourth embodiment;

[0100] Fig. 15 a shows a schematic first representation of an automation network according to a fifth embodiment;

[0101] Fig. 15 b shows a schematic second representation of an automation network according to a fifth embodiment;

[0102] Fig. 16 a shows a schematic first representation of an automation network according to a sixth embodiment; Fig. 16 b shows a schematic second representation of an automation network according to a sixth embodiment;

[0103] Fig. 17 a is a schematic representation of a first timeline for captured timestamps; and

[0104] Fig. 17 b shows a schematic representation of a second timeline for captured timestamps.

[0105] Please note that the figures are merely schematic and not to scale. Therefore, components and elements shown in the figures may be exaggerated or reduced in size for clarity. Furthermore, please note that the reference numerals in the figures have been chosen to be unchanged or similar when referring to identical or similarly designed elements and / or components.

[0106] The term "MainDevice" (abbreviated to "MDevice") refers to a "control bus device" designed to control and coordinate "SubordinateDevices" in the automation network. A "MainDevice" is therefore the central control unit / main device of a system or machine in an automation network, which assumes control and coordination of the subordinate bus devices. The terms "MainDevice" and "control bus device" can be understood as synonyms.

[0107] The term "SubordinateDevice" (or "SubDevice" for short) refers to a subordinate bus device that can be controlled by a "MainDevice," i.e., a "control bus device." Controllable also includes configurable. A "SubDevice" is therefore a subordinate unit in a system or machine that can be controlled by the main device, i.e., the "MainDevice." The "SubDevice" processes the data packets sent by the "MainDevice," e.g., Ethernet data packets, and executes the tasks associated with the data packet, while the "SubDevice" forwards the data packet as it passes through.

[0108] "Control process" refers to the general, cyclically executed control operation of the automation network. A "first arrangement" of a bus node indicates that a data packet on the outgoing path first passes through the first input / output port of the bus node. This means that in the first arrangement, the first input / output port of the bus node faces the control bus node. It is understood that on the return path, the data packet first passes through the second input / output port of the bus node, which has the first arrangement.

[0109] A "second arrangement" of a bus node indicates that a data packet on the outbound path first passes through the second input / output port of the bus node. This means that in the second arrangement, the second input / output port of the bus node faces the control bus node. It is understood that on the return path, the data packet first passes through the first input / output port of the bus node, which has the second arrangement.

[0110] A "configuration sequence" of a plurality of bus devices specifies the order in which the plurality of bus devices are physically connected to at least one data line. A data packet passes through the plurality of bus devices according to the configuration sequence.

[0111] A "processing order" of a plurality of bus devices specifies the order in which the majority of bus devices process a data packet, i.e., read data, write data, etc. The processing order may differ from the build order for a bus device, e.g., if this bus device has the second order. If the bus device has the first order, the processing order and the build order of the bus device may be the same.

[0112] A "first timestamp" assigns a unique point in time as an event to the receipt of a data packet via a first input / output port of a bus node via at least one data line. This unique point in time is taken into account in the course of a method for determining a setup sequence of bus nodes in an automation network. If the bus node has the second arrangement, the bus node can receive the data packet via the second input / output port and first record a second timestamp for the receipt of the data packet via the second input / output port. A "second timestamp" assigns a unique point in time as an event to the receipt of a data packet via a second input / output port of a bus node via at least one data line. This unique point in time is taken into account in the course of a method for determining a sequence of bus nodes in an automation network.The at least one data line can be configured as a separate outbound data line and a separate return data line, with the outbound data line forming, for example, the outbound path of the data packet and the return data line forming, for example, the return path of the data packet. If a bus subscriber generally has no other bus subscriber connected to the second input / output port of the bus subscriber in the first arrangement, the second timestamp is set equal to the first timestamp, i.e., the second timestamp corresponds to the first timestamp. It is understood that this also applies in a similar manner to the second arrangement.

[0113] A “third time stamp” assigns a unique time as an event to the receipt of a data packet via a third input / output port of a bus participant on a return path of the data packet.

[0114] A “fourth timestamp” assigns a unique time as an event to the receipt of a data packet via a fourth input / output port of a bus participant on a return path of the data packet.

[0115] The new idea is to use an existing clock functionality of a bus subscriber to record at least a first time stamp upon receipt of a data packet via a first input / output port of a bus subscriber and a second time stamp upon receipt of the data packet via a second input / output port of the bus subscriber. If the bus subscriber has the second arrangement, the existing clock functionality is used to first record the second time stamp upon receipt of a data packet via the second input / output port of the bus subscriber and to record the first time stamp upon receipt of the data packet via the first input / output port of the bus subscriber on the return path of the data packet. The clock functionality provides the bus subscriber with a local system time and can be implemented as a hardware-implemented local clock in the bus subscriber, e.g.with a size of 64 bits and a resolution of 1 bit = 1 ns.

[0116] Based on the at least first and second recorded timestamps, the proposed method for determining a setup sequence of bus devices and the associated devices can be used to determine the setup sequence of the bus devices, i.e., the order in which the bus devices are connected to the at least one data line and through which a data packet is passed. The processing sequence, i.e., the order in which the bus devices process a data packet, can be assigned to the setup sequence.

[0117] The bus node's setup sequence can be easily determined by considering the sign of the difference formed when applying the procedure for determining the bus node's setup sequence, calculating the absolute values ​​of the differences, and sorting the absolute values. The larger the absolute value, the closer the bus node is to the control bus node. The smaller the absolute value, the farther away.

[0118] If the processing sequence and the setup sequence of a bus node match, the bus node can have the first arrangement. The first arrangement indicates that a data packet on the outward path to the corresponding bus node first passes through the first input / output port of the bus node. This means that in the first arrangement, the first input / output port of the bus node faces the control bus node. It is understood that on the return path, the data packet first passes through the second input / output port of the bus node, which has the first arrangement.

[0119] Mathematically, the difference between the time the data packet was received at the second input / output port of the bus subscriber and the time the data packet was received at the first input / output port of the bus subscriber is calculated, and the sign is evaluated. This means the second time stamp for the reception of the data packet via the second input / output port of the bus subscriber and the first time stamp for the reception of the data packet via the first input / output port of the bus subscriber. The time of reception or the second time stamp of a data packet at the second input / output port of a bus subscriber with the first arrangement is greater than the time of reception or the first time stamp of a data packet at the first input / output port of the bus subscriber. In this case, the sign would be positive and would indicate the first arrangement of the bus subscriber.

[0120] If the setup sequence and processing sequence differ, the bus node can have a second arrangement, where the second arrangement specifies that a data packet on the outward path to the corresponding bus node first passes through the second input / output port of the bus node. This means that in the second arrangement, the second input / output port of the bus node faces the control bus node. It is understood that on the return path, the data packet first passes through the first input / output port of the bus node, which has the second arrangement.

[0121] Mathematically, the difference between the time the data packet was received at the second input / output port of the bus node and the time the data packet was received at the first input / output port of the bus node is calculated, and the sign is evaluated. This means the second time stamp for the reception of the data packet via the second input / output port of the bus node with the second arrangement minus the first time stamp for the reception of the data packet via the first input / output port. The time of reception or the second time stamp of a data packet at the second input / output port of a bus node with the second arrangement is smaller than the time of reception or the first time stamp of a data packet at the first input / output port of the bus node. In this case, the sign mentioned would be negative and would indicate the second arrangement of the bus node.

[0122] The proposed methods and devices are advantageously suitable for all automation networks and bus devices that each carry a data packet on both the outbound and return paths. The outbound and return paths can each be formed by separate data lines. However, the automation network is preferably designed to use the EtherCAT transmission protocol as the communication protocol.

[0123] Figures 1, 8, 9 and 11 are described together below. Fig. 1 shows a schematic representation of a method 100 for determining a setup sequence of bus participants 1115, 1120, 1125, 1130, 1135 of an automation network 1100 according to a first embodiment. Fig. 8 shows a schematic representation of a structure of a bus participant 800 for an automation network 1100 according to a first embodiment. Fig. 9 shows a schematic representation of a structure of a bus participant according to a second embodiment 900 for e.g. the automation network according to the first embodiment 1100 and Fig. 11 shows a schematic representation of the automation network 1100 according to the first embodiment. The automation network according to the first embodiment 1100 in Fig.11 comprises a plurality of bus devices of the automation network according to the first embodiment 1105, which are connected to one another via at least one data line 820. The data line 820 can be embodied as a physical cable. At least one of the plurality of bus devices of the automation network according to the first embodiment 1105 is embodied as a main device, i.e., a control bus device of the automation network according to the first embodiment 1110, for controlling and coordinating subordinate devices, i.e., subordinate bus devices.

[0124] The control bus participant of the automation network according to the first embodiment 1110 is designed to carry out a method 100 for determining a setup sequence of a plurality of bus participants 1105 of the automation network 1100 according to the first embodiment according to the features of the following figures and / or a method 700 for controlling the plurality of bus participants 1105 of the automation network 1100 according to the first embodiment according to Fig. 7.

[0125] The automation network 1100 according to the first embodiment in Fig. 11 has, in addition to the first control bus participant 1110, a first to first fifth bus participant 1115, 1120, 1125, 1130, 1135.

[0126] The first to first fifth bus subscribers 1115, 1120, 1125, 1130, 1135 can also be referred to as first to fifth bus subscribers 1115, 1120, 1125, 1130, 1135. The first to first fifth bus subscribers 1115, 1120, 1125, 1130, 1135 can, in detail, have a structure according to the bus subscriber according to the first embodiment 800 of Fig. 8 and a structure according to the bus subscriber according to the second embodiment 900 of Fig. 9. The first to first fifth bus subscribers 1115, 1120, 1125, 1130, 1135 are each designed as a subordinate device, i.e., as a subordinate bus subscriber that can be controlled by the first control bus subscriber 1110. Fig. 11 thus shows the first embodiment of the automation network 1100, in which the first plurality of bus participants 1105 are each designed as individually arranged first to first fifth bus participants 1115, 1120, 1125, 1130, 1135.

[0127] If the first to first fifth bus participants 1115, 1120, 1125, 1130, 1135 in Fig. 11 each have the structure of the bus participant according to the first embodiment 800 according to Fig. 8, the first to first fifth bus participants 1115, 1120, 1125, 1130, 1135 as bus participants according to the first embodiment 800 each comprise a first plurality of input / output ports 805. A first input / output port PO and a second input / output port P1 of the first plurality of input / output ports 805 are each connected to at least one data line 820. A data packet can thus be received via the first input / output port PO of the bus subscriber according to the first embodiment 800, e.g., the first bus subscriber 1115 in Fig. 11, via the at least one data line 820 on a forward path 825.

[0128] Furthermore, the data packet can be output via the second input / output port P1 of the bus subscriber according to the first embodiment 800, e.g., the first bus subscriber 1115 in Fig. 11, via the data line 820 on the outgoing path 825 to another bus subscriber, e.g., the first bus subscriber 1120 in Fig. 11. The bus subscriber according to the first embodiment 800, e.g., the first bus subscriber 1115 in Fig. 11, is configured to capture a first time stamp T1 upon receipt of the data packet via the first input / output port PO of the bus subscriber according to the first embodiment 800.The first time stamp T1 of the bus participant according to the first embodiment 800, i.e. the first bus participant 1115, is designed to assign a unique time as an event to the receipt of the data packet on the outward path 825 via the first input / output port PO of the bus participant 800 according to the first embodiment 800, i.e. the first bus participant 1115.

[0129] The bus subscriber 800 according to the first embodiment 800, i.e., the first bus subscriber 1115 of the automation network according to the first embodiment 1100, is configured to record a second time stamp T2 upon receipt of the data packet via the second input / output port P1 via the data line 820 on the return path of the data packet. The second time stamp T2 of the bus subscriber 800 according to the first embodiment 800, i.e., the first bus subscriber 1115, is configured to assign a unique time as an event to the receipt of the data packet on a return path 830 via the second input / output port P1 of the bus subscriber according to the first embodiment 800. The bus subscriber according to the first embodiment 800, e.g., the first bus subscriber 1115 in Fig. 11, is configured to output the data packet on the return path 830 via the first input / output port PO via the at least one data line 820 for the first control bus subscriber 1110 in Fig. 11.

[0130] Receiving the data packet via the first input / output port PO of the bus subscriber according to the first embodiment 800 in Fig. 8 on the outgoing path 825 is carried out by means of a receiving unit RX. The receiving unit RX can form a so-called receiver and can be designed to receive the data packet via the data line 820. It is understood that each of the first plurality of input / output ports 805 of the bus subscriber according to the first embodiment 800 has a receiving unit RX for receiving the data packet. Sending the data packet via the second input / output port P1 of the bus subscriber according to the first embodiment 800 in Fig. 8 on the outgoing path 825 is carried out by means of a transmitting unit TX. The transmitting unit TX can form a so-called transceiver and can be designed to send the data packet via the data line 820.

[0131] It is understood that each of the first plurality of input / output ports 805 of the bus subscriber according to the first embodiment 800 has a transmitting unit TX for transmitting the data packet. The receiving unit RX and the transmitting unit TX of an input / output port of a bus subscriber according to the first embodiment 800 are not shown in Fig. 11 for the first to the first fifth bus subscribers 1115, 1120, 1125, 1130, 1135. This was done solely for reasons of clarity and therefore does not represent a limitation.

[0132] However, before the first bus subscriber 1115 in Fig. 11 receives the data packet via the second input / output port P1 of the first bus subscriber 1115 on the return path 830, the first bus subscriber 1115 would output the data packet to the first second bus subscriber 1120 via the second input / output port P1 of the first bus subscriber 1115 via the data line 820 on the outward path 825. The first second bus subscriber 1120 would then proceed analogously to the above explanation, i.e. upon receipt of the data packet via the first input / output port PO of the first second bus subscriber 1120 via the data line 820 on the outgoing path 825, it would record the first time stamp T1 and output the data packet via the second input / output port P1 of the first second bus subscriber 1120 via the data line 820 on the outgoing path 825 to the first third bus subscriber 1125.

[0133] Upon receipt of the data packet via the first input / output port PO of the first third bus subscriber 1125 via the data line 820 on the outgoing path 825, the first third bus subscriber 1125 would also record the first time stamp T1 and output the data packet via the second input / output port P1 of the first third bus subscriber 1125 via the data line 820 on the outgoing path 825 to the first fourth bus subscriber 1130. Upon receipt of the data packet via the first input / output port PO of the first fourth bus subscriber 1130 via the data line 820 on the outgoing path 825, the first fourth bus subscriber 1130 would likewise record the first time stamp T1 and output the data packet via the second input / output port P1 of the first fourth bus subscriber 1130 via the data line 820 on the outgoing path 825 to the first fifth bus subscriber 1135.

[0134] Since the first fifth bus subscriber 1135 forms the last bus subscriber in the series and no further bus subscriber is connected to the second input / output port P1 of the first fifth bus subscriber 1135 via the data line 820, the first fifth bus subscriber 1135 would, upon receiving the data packet via the first input / output port PO of the first fifth bus subscriber 1135 via the data line 820 on the outward path 825, record the first time stamp T1 and output the data packet via the first input / output port PO via the data line 820 on the return path 830 to the first fourth bus subscriber 1130.

[0135] Upon receiving the data packet via the second input / output port P1 via the data line 820 on the return path 830, the first fourth bus subscriber 1130 would capture the second time stamp T2 and output the data packet via the first input / output port PO of the first fourth bus subscriber 1130 via the data line 820 on the return path 830 to the first third bus subscriber 1125. Upon receiving the data packet via the second input / output port P1 via the data line 820 on the return path 830, the first third bus subscriber 1125 would capture the second time stamp T2 and output the data packet via the first input / output port PO of the first third bus subscriber 1125 via the data line 820 on the return path 830 to the first second bus subscriber 1120.

[0136] The first second bus subscriber 1120 would, upon receiving the data packet via the second input / output port P1 via the data line 820 on the return path 830, capture the second time stamp T2 and output the data packet to the first bus subscriber 1115 via the first input / output port PO of the first second bus subscriber 1120 via the data line 820 on the return path 830.

[0137] It is understood that if the bus participants of the automation network are arranged differently according to the first embodiment 1100 in Fig. 11, that is to say if, for example, no first third bus participant 1125 is connected via the data line 820 to the second input / output port P1 of the first second bus participant 1120, the data packet from the first second bus participant 1120 is output directly after the first time stamp T1 has been detected via the first input / output port PO via the data line 820 on the return path 830 to the first first bus participant 1115. The arrangement of the first first to first fifth bus participants 1115, 1120, 1125, 1130, 1135 in Fig. 11 is therefore exemplary in nature.

[0138] The first time stamp T 1 and the second time stamp T 2 can each be recorded on the basis of a clock functionality of a bus subscriber according to the first embodiment 800 or of a bus subscriber according to the second embodiment 900. This will be explained below. The bus subscriber according to the second embodiment 900 in Fig. 9 can, similar to the bus subscriber according to the first embodiment 800 in Fig. 8, have a second plurality of input / output ports 905. The bus subscriber according to the second embodiment 900 in Fig. 9 can, for example, differ from the bus subscriber according to the first embodiment 800 in Fig. 8 in having a processing unit 945. The processing unit 945 of the bus subscriber according to the second embodiment 900 is connected to a second outgoing data line 935 on the outgoing path 825 of the data packet, provided that the bus subscriber according to the second embodiment 900 has the first arrangement 1710.

[0139] Otherwise, i.e., when the bus subscriber according to the second embodiment 900 has the second arrangement 1720, the processing unit 945 is connected to the second return path data line 940 on the return path 830 of the data packet. 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 the data packet passes through the processing unit 945 of the bus subscriber according to the second embodiment 900 on the return path 830 via the second return path data line 940, the data packet is processed on the return path 830, in contrast to the data packet passing through the processing unit 945 on the outgoing path 825 via the second outgoing path data line 935—provided the bus subscriber according to the second embodiment 900 is addressed to read data from the data packet and / or write data to the data packet.

[0140] The bus subscriber according to the second embodiment 900 is further configured to capture the first time stamp T1 upon receipt of a data packet via the first input / output port PO and the second outgoing data line 935 on the outgoing path 825 of the data packet and to forward the data packet via the second outgoing data line 935 to the processing unit 945, as in the case of the first bus subscriber 1115 of the automation network according to the first embodiment 1100 in Fig. 11. The processing unit 945 of the bus subscriber according to the second embodiment 900 is configured to process the data packet in transit, i.e., in parallel with the continuous reception of the data packet via the first input / output port PO, and to forward the data packet via the second outgoing data line 935 to the second input / output port P1 of the bus subscriber according to the second embodiment 900.The bus subscriber according to the second embodiment 900 is configured to output the data packet via the second input / output port P1 via the second outgoing data line 935 on the outgoing path 825 to another bus subscriber connected via the second input / output port P1, for example to the first second bus subscriber 1120 in Fig. 11.

[0141] The bus participant according to the second embodiment 900, that is to say, for example, the first bus participant 1115 in Fig. 11, is designed, upon receipt of the data packet via the second input / output port P1 and the second return path data line 940 on the return path 830, to capture the second time stamp T2 and to output the data packet via the first input / output port P0 and the second return path data line 940 on the return path 830 to the first control bus participant 1110. In the interaction of the structure of the bus participant according to the second embodiment 900 with the automation network according to the first embodiment 1100 Fig. 11, a similar scenario arises with regard to the detection of the first and second time stamps T1, T2 of the first to first fifth bus participants 1115, 1120, 1125, 1130, 1135 as was explained above in connection with the structure of the bus participant according to the first embodiment 800 according to Fig. 8.

[0142] The processing unit 945 of the bus participant according to the second embodiment 900 in Fig. 9 is preferably designed as an EtherCAT SubDevice Controller (ESC), provided that the bus participant according to the second embodiment 900 or the first to first fifth bus participants 1115, 1120, 1125, 1130, 1135 in Fig. 11 are designed for communication by means of the EtherCAT transmission protocol.

[0143] The processing unit 945 of the bus participant according to the second embodiment 900 can, for example, have the hardware-implemented local clock 950, for example with a size of 64 bits and a resolution of 1 bit = 1 ns, in order to be able to record the first and second time stamps T1, T2. However, the hardware-implemented local clock 950 is only shown schematically in Fig. 9. It is understood that bus participants in subsequent figures can also have a processing unit comprising the hardware-implemented local clock 950. If the processing unit 945 is an ESC, as mentioned above, the ESC has the local clock 950.

[0144] However, the first and second time stamps T1 , T2 are not shown in Fig. 11 for reasons of clarity.

[0145] It is understood that if the first to first fifth bus participants 1115, 1120, 1125, 1130, 1135 in Fig. 11 have the structure of the bus participant according to the second embodiment 900 according to Fig. 9, the data line 820 in Fig. 11 can then also have a separate second outgoing path data line 935 and a separate second return path data line 940 according to Fig. 9, which are not shown in Fig. 11.

[0146] The bus subscriber according to the second embodiment 900 can comprise a memory unit 955, in particular a register unit, which can be accessed by the processing unit 945 of the bus subscriber 900. Furthermore, it is conceivable that the processing unit 945 of the bus subscriber according to the second embodiment 900 alternatively comprises the memory unit itself (not shown). The first and second time stamps T1, T2 can each be stored in the memory unit 955, in particular the register unit, of a bus subscriber according to the first embodiment 800 (not shown) or of a bus subscriber according to the second embodiment 900.

[0147] The first control bus participant 1110 can, for example, read out the memory unit 955 of a bus participant according to the first embodiment 800 or of a bus participant according to the second embodiment 900 by sending out a further data packet in order to receive the detected first and second time stamps T1, T2 and, based thereon, to be able to carry out a seventh step 135, explained below, of the method according to the first embodiment 100 for determining the setup sequence of the bus participants 1115, 1120, 1125, 1130, 1135 of the automation network according to the first embodiment 1100.

[0148] The method according to the first embodiment 100 in Fig. 1 comprises, in a first step 105 of the method according to the first embodiment, providing a data packet for the first plurality of bus participants 1105 of the automation network according to the first embodiment 1100. This is done, for example, by the first control bus participant 1105.A second step 110 of the method according to the first embodiment 100 comprises receiving the data packet on the outgoing path 825 via a first input / output port PO of a bus participant according to the first embodiment 800 or according to the second embodiment 900, i.e. the first to the first fifth bus participants 1115, 1120, 1125, 1130, 1135 of the automation network according to the first embodiment 1100, and detecting a first time stamp T1 of the bus participant according to the first embodiment 800 or according to the second embodiment 900, i.e. the first to the first fifth bus participants 1115, 1120, 1125, 1130, 1135 of the automation network according to the first embodiment 1100.

[0149] In a third step 115 of the method according to the first embodiment 100, the data packet is output via a second input / output port P1 of the bus subscriber according to the first embodiment 800 or according to the second embodiment 900, i.e., the first to the first fifth bus subscriber 1115, 1120, 1125, 1130, 1135, on an outgoing path 825 to another bus subscriber. In a fourth step 120 of the method according to the first embodiment 100, the data packet is received on an outgoing path 825 via a first input / output port P0 of the other bus subscriber, and a first time stamp T1 of the other bus subscriber is recorded.

[0150] In an intermediate step 123 of the method according to the first embodiment 100, a check can be performed to determine whether no further bus subscriber is connected to the second input / output port P1 of the further bus subscriber. The check can be performed, for example, by reading port information from the further bus subscriber, wherein the processing unit of the further bus subscriber can, for example, manage the port information. If the check in the intermediate step 123 reveals that yet another bus subscriber is connected to the second input / output port P1 of the further bus subscriber (n-branch in Fig. 1), the method according to the first embodiment 100 returns to the above-mentioned third step 115 of the method according to the first embodiment 100.

[0151] If the check in intermediate step 123 of the method according to the first embodiment 100, which can also be referred to as branch 123, shows that no further bus participant is connected to the second input / output port P1 of the further bus participant, j-branch in Fig. 1, a fifth step 125 of the method according to the first embodiment 100 is carried out. It is understood that a further branch can be inserted between the second and third steps 110, 115 of the method according to the first embodiment 100 in Fig. 1, to check whether no further bus participant is arranged at the second input / output port of the bus participant, similar to branch 123 of the method according to the first embodiment 100, although this is not shown in Fig. 1.

[0152] The fifth step 125 of the method according to the first embodiment 100 comprises receiving the data packet on a return path 830 via the second input / output port P1 of the bus participant according to the first embodiment 800 or according to the second embodiment 900, i.e. of the first to first fifth bus participants 1115, 1120, 1125, 1130, 1135, via the at least one data line 820, and detecting a second time stamp T2 of the bus participant according to the first embodiment 800 or according to the second embodiment 900, i.e. of the first to first fifth bus participants 1115, 1120, 1125, 1130, 1135.

[0153] A sixth step 130 of the method according to the first embodiment 100 comprises outputting the data packet via the first input / output port PO of the bus subscriber according to the first embodiment 800 or according to the second embodiment 900, i.e. of the first to first fifth bus subscribers 1115, 1120, 1125, 1130, 1135 on the return path 830. The first control bus subscriber 1110 can use a further data packet to read out all of the first and second time stamps T1, T2 stored in the memory units 955 of the first to first fifth bus subscribers 1115, 1120, 1125, 1130, 1135 before a seventh step 135 of the method according to the first embodiment 100 is carried out.

[0154] Finally, the seventh step 135, which has already been indicated above, comprises relating the first time stamp T1 and the second time stamp T2 of a bus participant according to the first embodiment 800 or according to the second embodiment 900, i.e. the first to first fifth bus participants 1115, 1120, 1125, 1130, 1135, in order to determine the setup sequence of the first plurality of bus participants 1105 based thereon.

[0155] If the processing sequence and setup sequence of the first to the first fifth bus participants 1115, 1120, 1125, 1130, 1135 match, the first to the first fifth bus participants 1115, 1120, 1125, 1130, 1135 have the first arrangement 1710. The reception time or the second time stamp T2 of a data packet at the second input / output port P1 of a bus participant of the first to the first fifth bus participants 1115, 1120, 1125, 1130, 1135 is greater than the reception time or the first time stamp T1 of a data packet at the first input / output port P0 of the first to the first fifth bus participants 1115, 1120, 1125, 1130, 1135.

[0156] If the setup sequence and processing sequence of the first to the first fifth bus participants 1115, 1120, 1125, 1130, 1135 differ from each other, the first to the first fifth bus participants 1115, 1120, 1125, 1130, 1135 each have the second arrangement 1720. The second arrangement 1720 is not shown in Fig. 11. Shown in Fig. 11 is the first arrangement 1710 for the first to the first fifth bus participants 1115, 1120, 1125, 1130, 1135. The time of reception or the second time stamp T2 of a data packet at the second input / output port P1 of a bus participant with the second arrangement according to the first embodiment 800 or according to the second embodiment 900, i.e. of the first to the first fifth bus participants 1115, 1120, 1125, 1130, 1135 is smaller than the time of reception orthe first time stamp T1 of a data packet at the first input / output port PO of the bus participant according to the first embodiment 800 or according to the second embodiment 900, i.e. of the first to first fifth bus participants 1115, 1120, 1125, 1130, 1135.

[0157] If a bus device generally has no other connected bus device at the second input / output port P1 of the bus device in the first arrangement, the second timestamp T2 of the bus device is set equal to the first timestamp T1 of the bus device, i.e., the second timestamp T2 corresponds to the first timestamp T1. It goes without saying that this also applies similarly to the second arrangement of a bus device.

[0158] The relationship between the first and second time stamps T1, T2 is explained in more detail below with reference to Fig. 2.

[0159] It is understood that the method explained according to the first embodiment 100 can also be applied to the following figures, as well as the structure of the bus participant according to the first embodiment 800 in Fig. 8, or the structure of the bus participant according to the second embodiment 900 in Fig. 9.

[0160] Fig. 2 shows a schematic representation of a section 200 of the method according to the first embodiment 100 in Fig. 1 , specifically a detailed representation of the seventh step 135 of the method according to the first embodiment 100 in Fig. 1. The relating to one another in the seventh step 135 of the method according to the first embodiment 100 comprises, in a first intermediate step 205 in Fig. 2, that a difference is formed between the second time stamp T2 for receiving the data packet via the second input / output port P1 and the first time stamp T1 for receiving the data packet via the first input / output port PO of a bus participant according to the first embodiment 800 or according to the second embodiment 900, that is to say of the first to first fifth bus participants 1115, 1120, 1125, 1130, 1135.

[0161] In a second intermediate step 210 of section 200 in Fig. 2, the difference determined in the first intermediate step 205 of the seventh step 135 of the method according to the first embodiment 100 is evaluated by considering a sign of the difference. If the sign is positive, a bus subscriber with the structure according to the first embodiment 800 or the second embodiment 900, i.e., the first to the first fifth bus subscribers 1115, 1120, 1125, 1130, 1135, has the first arrangement 1710. If the sign is negative, a bus subscriber with the structure according to the first embodiment 800 or the second embodiment 900, i.e., the first to the first fifth bus subscribers 1115, 1120, 1125, 1130, 1135, has the second arrangement 1720.

[0162] A third intermediate step 215 in Fig. 2 for the seventh step 135 of the method according to the first embodiment 100 in Fig. 1 comprises that an amount of the determined difference is formed for each bus participant according to the first embodiment 800 or according to the second embodiment 900, i.e. the first to the first fifth bus participants 1115, 1120, 1125, 1130, 1135, using a mathematical amount function, e.g. an absolute amount or via |x|=sqrt(x A2), where x indicates the determined difference. The amounts thus formed are sorted for the first plurality of bus participants 1105, e.g. sorted in ascending order (alternatively sorted in descending order), in order to determine the structure sequence of the first plurality of bus participants 1105. The smaller the amount of the determined difference, the further the respective bus participant according to the first embodiment 800 or according to the second embodiment 900, i.e. the first to first fifth bus participants 1115, 1120, 1125, 1130, 1135, is located from the bus participant providing the data packet, i.e. the first control bus participant 1110 in Fig. 11, in the first step 105 of the method according to the first embodiment 100. In the example of Fig.11, the signs of the difference between the second time stamp T2 and the first time stamp T1 of the first to the first fifth bus participants 1115, 1120, 1125, 1130, 1135 would be positive, so that as a result of applying the method according to the first embodiment 100, a match between the setup sequence and the processing sequence of the first to the first fifth bus participants 1115, 1120, 1125, 1130, 1135 would be detectable. This means that the first to the first fifth bus participants 1115, 1120, 1125, 1130, 1135 each have the first arrangement 1710.

[0163] Figures 12, 13a, 13b, 17a and 17b are described together below. Fig. 12 shows a schematic representation of an automation network according to a second embodiment 1200. Fig. 13a shows a schematic first representation of an automation network according to a third embodiment 1300 and Fig. 13b shows a schematic second representation of the automation network according to the third embodiment 1300 in Fig. 13a. Fig. 17a shows a schematic representation of a first timeline 1700 with time stamps for the automation network according to the second embodiment 1200 in Fig. 12 and Fig. 17b shows a schematic representation of a second timeline 1705 with time stamps for the automation network according to the third embodiment 1300 in Figs. 13a, b.

[0164] The automation network according to the second embodiment 1200 with the second plurality of bus nodes 1205 in Fig. 12, in contrast to the automation network according to the first embodiment 1100 in Fig. 11, is designed as a second robot arm 1201 of an industrial robot. In addition to the second control bus node 1210, the automation network 1200 according to the second embodiment in Fig. 12 also has a second first to second ninth bus node 1215, 1220, 1225, 1230, 1235, 1240, 1245, 1250, 1255. The second first to second ninth bus participants 1215, 1220, 1225, 1230, 1235, 1240, 1245, 1250, 1255 can also be referred to as first to ninth bus participants 1215, 1220, 1225, 1230, 1235, 1240, 1245, 1250, 1255.

[0165] The second robot arm 1201 comprises a second plurality of movable axes 1202. The second plurality of movable axes 1202 of the second robot arm 1201 are each embodied as individual bus nodes. Specifically, the second robot arm 1201 comprises a second first bus node 1215, which is embodied, for example, as the base of the second robot arm 1201. A second second bus node 1220 is embodied, for example, as a first axis. A second third bus node 1225 is embodied, for example, as a second axis. A second fourth bus node 1230 is embodied, for example, as a first connecting element.

[0166] A second, fifth bus device 1235 is configured, for example, as a third axis. A second, sixth bus device 1240 is configured, for example, as a fourth axis. A second, seventh bus device 1245 is configured, for example, as a second connecting element. A second, eighth bus device 1250 is configured, for example, as a fifth axis, and a second, ninth bus device 1255 is configured, for example, as a sixth axis.

[0167] Furthermore, the automation network according to the second embodiment 1200 comprises a second control bus subscriber 1210, which is designed to provide the data packet for the method for determining the assembly sequence according to the first embodiment 100 and the section 200 of the method according to the first embodiment 100 in Fig. 2. The sequence upon receipt of the data packet by the second plurality of bus subscribers 1205 within the scope of the execution of the method according to the first embodiment 100 and its section 200 is similar to the above explanation, but with the difference that the second second bus subscriber 1220 and the second third bus subscriber 1225 in Fig. 12 each have the second arrangement 1720.This means that the second second bus participant 1220 and the second third bus participant 1225 receive the data packet via the data line 820 on the outward path via the second input / output port P1, instead of via the first input / output port PO like the other second first and second fourth to second ninth bus participants 1215, 1230, 1235, 1240, 1245, 1250, 1255 in Fig. 12.

[0168] The first timeline 1700 in Fig. 17 a for the automation network according to the second embodiment 1200 in Fig. 12 comprises first to seventeenth time stamps of the first timeline 1700 11 to t17, which are broken down in more detail in Table 1 below:

[0169] Table 1

[0170] The time stamps of the first timeline 1700 are numbered consecutively in Fig. 17a for clarity. However, the first to seventeenth time stamps t1 - 117 of the timeline 1700 are the above-mentioned first and second time stamps T1, T2, which the second first to second ninth bus participants 1215, 1220, 1225, 1230, 1235, 1240, 1245, 1250, 1255 each record.

[0171] The time stamp of the first time beam 1700 11 for the reception of the data packet by the second first bus participant 1215 via its first input / output port PO corresponds, for example, to the first time stamp T1 of the second first bus participant 1215. This is because the second first bus participant 1215 has the first arrangement 1710.

[0172] The time stamp of the first time line 1700 12 for the reception of the data packet by the second bus participant 1220 via its second input / output port P1 corresponds, for example, to the second time stamp T2 of the second bus participant 1215.

[0173] This is because the second bus node 1220 has the second arrangement 1720. The remaining third to seventeenth time stamps t3-t17 of the timeline according to the first embodiment 1700 can be assigned in a similar manner. However, this will not be explained in detail. A processing sequence of the second plurality of bus nodes 1205 in Fig.12 would read: second first bus user 1205, having the first place 21 in the processing order, second fourth bus user 1230, having the second place 22 in the processing order, second fifth bus user 1235, having the third place 23 in the processing order, second sixth bus user 1240, having the fourth place 24 in the processing order, second seventh bus user 1245, having the fifth place 25 in the processing order, second eighth bus user 1250, having the sixth place 26 in the processing order, second ninth bus user 1255, having the seventh place 27 in the processing order, second third bus user 1225, having the eighth place 28 in the processing order and second second bus user 1220, having the ninth place 29 in the processing order.

[0174] When applying the first to third intermediate steps 205 to 215 of section 200 of the method according to the first embodiment 100 to carry out the seventh step 135 of the method according to the first embodiment 100, the second control bus participant 1210 in Fig. 12 would determine that the sign from t2 - 116, i.e. reception time of the second input / output port P1 minus reception time of the first input / output port PO, is negative for the second, second bus participant 1220 and the sign from t3 - 115 for the second, third bus participant 1225. This corresponds to the calculation from reception time of the second input / output port P1, i.e. second time stamp T2 of the corresponding bus participant minus reception time of the first input / output port PO, i.e. first time stamp T1 of the corresponding bus participant.From the sign of the difference, the second arrangement 1720 of the second second and second third bus participants 1220, 1225 as well as the first arrangement 1710 for the remaining bus participants of the automation network according to the second embodiment 1200 can be determined.

[0175] The first to ninth place 1-9 of the setup sequence of the second first to second ninth bus participants 1215, 1220, 1225, 1230, 1235, 1240, 1245, 1250, 1255 can be obtained by the second control bus participant 1210 by forming amounts of the differences from the time stamps t1-t17 of the first timeline 1700 or the time stamps T1, T2 of the said bus participants of the automation network according to the second embodiment 1200 and sorting the amounts. This corresponds to the third intermediate step 215 in Fig. 2. The larger the amount, the closer the respective second first to second ninth bus participants 1215, 1220, 1225, 1230, 1235, 1240, 1245, 1250, 1255 are arranged to the second control bus participant 1210. The smaller the amount, the further away the second first to second ninth bus participants 1215, 1220, 1225, 1230, 1235, 1240, 1245, 1250, 1255 are arranged.

[0176] Based on the first to ninth places 21-29 of the processing sequence and the first to ninth places 1-9 of the setup sequence of the second first to second ninth bus participants 1215, 1220, 1225, 1230, 1235, 1240, 1245, 1250, 1255, the control program can recognize whether, for example, a movable axis must be rotated to the right or left in order to execute a predetermined movement of the robot in space.

[0177] It is understood that the data line 820 in Fig. 12 may also comprise a separate outgoing data line and a separate return data line, but this is not shown for reasons of clarity.

[0178] Fig. 13 a and b show the automation network according to the third embodiment 1300 with the third plurality of bus subscribers 1305, which are grouped in the arrangement into third first to third third modules 1301, 1302, 1303, each with a plurality of bus subscribers. For example, the third first to third third modules 1301, 1302, 1303 each form tables, each comprising three bus subscribers per table. The third first to third third modules 1301, 1302, 1303 can also be referred to as first to third modules 1301, 1302, 1303. Fig. 13 a shows the first to ninth positions 1-9 of the assembly sequence of the third first to third ninth bus participants 1315, 1320, 1325, 1330, 1335, 1340, 1345, 1350, 1355 as well as the third control bus participant 1310.The third first to third ninth bus participants 1315, 1320, 1325, 1330, 1335, 1340, 1345, 1350, 1355 can also be referred to as first to ninth bus participants 1315, 1320, 1325, 1330, 1335, 1340, 1345, 1350, 1355.

[0179] Fig. 13 b shows a possible scenario in which the third second module 1302 has the second arrangement 1720, so that the third fourth to third sixth bus participants 1330, 1335, 1340 each have the second arrangement 1720 and receive the data packet on the outward path via the second input / output port P1. Accordingly, the first to ninth positions 21-29 of the processing sequence of the third first to third ninth bus participants 1315, 1320, 1325, 1330, 1335, 1340, 1345, 1350, 1355 would be established via the third first module 1301, the third third module 1303, and finally the third second module 1302.

[0180] The explanations in Fig. 12 therefore apply in a similar form to Fig. 13 b.

[0181] The second timeline 1705 in Fig. 17 b for the automation network according to the third embodiment 1300 in Fig. 13 b comprises first to seventeenth time stamps t1 to t17 of the second timeline 1705, which are broken down in more detail in Table 2 below:

[0182] Table 2

[0183] The explanation of the first to seventeenth time stamps t1 to t17 of the second timeline 1705 with respect to the first and second time stamps T1, T2 of a bus participant in connection with Table 1 applies analogously to Table 2. The data line 820 in Fig. 13 a and b can also comprise a separate outgoing data line and a separate return data line.

[0184] Figures 3 and 15a are described together below. Figure 3 shows a schematic representation of a method for determining a setup sequence of bus devices in an automation network according to a second embodiment 300, and Figure 15a shows a schematic first representation of an automation network according to a fifth embodiment 1500.

[0185] The automation network according to the fifth embodiment 1500 in Fig. 15 a differs from the automation network according to the third embodiment in Figs. 13 a and b in that the fifth second module 1502 comprises a bus subscriber, for example the fifth bus subscriber 1535, which has three input / output ports P0, P1, P2, wherein a fifth tenth bus subscriber 1560 is connected to the third input / output port P2 of the fifth bus subscriber 1535 via a further data line 1504.

[0186] The data line 820 and the further data line 1504 can each be configured as a separate outgoing data line and as a separate return data line (not shown). It is understood that the configuration of the fifth bus subscriber 1535 is exemplary, and the other fifth first to fifth fourth bus subscribers 1515, 1520, 1525, 1530, as well as the fifth sixth to fifth tenth bus subscribers 1540, 1545, 1550, 1555, 1560 can be configured similarly. Therefore, the method for determining the setup sequence of bus subscribers of the automation network according to the second embodiment 300 can be applied not only with respect to the fifth bus subscriber 1535. The bus subscribers of the previous figures can also comprise more than two input / output ports P0, P1.

[0187] The first to tenth positions 1 to 10 of the setup sequence as well as the first to tenth positions 21 to 30 of the processing sequence of the fifth first to fifth tenth bus participants 1515, 1520, 1525, 1530, 1535, 1540, 1545, 1550, 1555, 1560 vary in Fig. 15 a compared to Fig. 13 a and b. The fifth first to fifth tenth bus participants 1515, 1520, 1525, 1530, 1535, 1540, 1545, 1550, 1555, 1560 can also be referred to as first to tenth bus participants 1515, 1520, 1525, 1530, 1535, 1540, 1545, 1550, 1555, 1560. The method for determining the setup sequence of bus participants of the automation network according to the second embodiment 300 in Fig. 3 comprises, in a first step 305 of the method according to the second embodiment 300, providing the data packet, analogous to the first step 105 of the method according to the first embodiment 100. In an intermediate step 307 of the method according to the second embodiment 300 in Fig.3, it is checked whether a third input / output port P2 is present at the respective bus subscriber, for example, the fifth bus subscriber 1535 in Fig. 15a. This can be done similarly to the explanation of branch 123 of the method according to the first embodiment 100 in Fig. 1. If no third input / output port P2 is present at the bus subscriber, n-branch of branch 307 of the method according to the second embodiment 300, the method according to the second embodiment 300 in Fig. 3 leads to the second to seventh method steps 110 to 135 of the method according to the first embodiment 100 in Fig. 1.

[0188] If, on the other hand, the bus subscriber has a third input / output port P2, j-branch of branch 307 of the method according to the second embodiment 300, then, for example, the fifth control bus subscriber 1510 can divide the bus subscribers into a fifth first line 1565 and a fifth second line 1570 in a second step 310 of the method according to the second embodiment 300. The fifth first line 1565 can in this case comprise all fifth first to fifth ninth bus subscribers 1515, 1520, 1525, 1530, 1535, 1540, 1545, 1550, 1555 in Fig. 15 a. The fifth second line 1570 can in this case form the fifth tenth bus subscriber 1560, which is connected to the third input / output port P2 of the fifth fifth bus subscriber 1535. The fifth first line 1565 may also be referred to as the first line 1565 and the fifth second line 1570 may also be referred to as the second line 1570.

[0189] In a third step 315 of the method according to the second embodiment 300, first the first time stamps T1 of the bus subscribers on the outbound path 825 and the second time stamps T2 of the bus subscribers on the return path 830 of the fifth first line 1565 are recorded; this is not repeated for redundancy reasons for the above explanation. In a fourth step 320 of the method according to the second embodiment 300 in Fig. 3, the second time stamp T2 for the fifth fifth bus subscriber 1535 is recorded for the data packet on the return path of the bus subscriber of the fifth first line 1565, specifically upon receipt of the data packet by the fifth fifth bus subscriber 1535 via the second input / output port P1 from the fifth sixth bus subscriber 1540.In addition, the data packet is output via the third input / output port P2 via the additional data line 1504 to the fifth tenth bus subscriber 1560 so that the fifth tenth bus subscriber 1560 can record the first time stamp T1 upon receipt of the data packet via the first input / output port P0 of the fifth tenth bus subscriber 1560. Since the fifth tenth bus subscriber 1560 has no further bus subscriber connected to the second input / output port P1, the fifth tenth bus subscriber 1560 sends the data packet directly back to the fifth fifth bus subscriber 1535.

[0190] The fifth bus subscriber 1535, for example, receives the data packet in a fifth step 325 of the method according to the second embodiment 300 via the third input / output port P2 and records a third time stamp T3 of the fifth bus subscriber 1535. The third time stamp T3 of the fifth bus subscriber is recorded, but is not taken into account in the seventh step 135 of the method according to the first embodiment 100 in Fig. 1 or in the first to third intermediate steps 205 to 215 of the section 200 of the seventh step 135 of the method according to the first embodiment 100 in Fig. 2.

[0191] Following the detection of the third time stamp T3 of the fifth bus participant 1535 in the fifth step 325 of the method according to the second embodiment 300, the fifth bus participant 1535 outputs the data packet to the fifth bus participant 1530 on the return path 830. It is understood that the fifth bus participant 1530, 1525, 1520, 1515 forward the data packet to the fifth control bus participant 1510 on the return path 830.

[0192] Figures 4 and 15b are described together below. Fig. 4 shows a schematic representation of a method for determining a setup sequence of bus participants of an automation network according to a third embodiment 400 and Fig. 15b shows a schematic second representation of the automation network according to the fifth embodiment 1500 in Fig. 15a. In contrast to Fig. 15a, the fifth second module 1502 in Fig. 15b has the second arrangement 1720. The method according to the third embodiment 400 in Fig. 4 differs from the method according to the third embodiment 300 in Fig. 3 in that, for example, the fifth bus participant 1535 receives the data packet on the outgoing path 825 via the second input / output port P1 in a third step 415 of the method according to the third embodiment and records the first time stamp T1 of the fifth bus participant 1535.The data packet is then output to the fifth tenth bus subscriber 1560 via the third input / output port P2 via the fifth second line 1570 so that the fifth tenth bus subscriber 1560 can capture the first time stamp T1 of the fifth tenth bus subscriber 1560 upon receipt of the data packet via the first input / output port PO.

[0193] The fifth bus device 1560 has no other bus device connected to the second input / output port P1. The second timestamp T2 of the fifth bus device 1560 then corresponds to the first timestamp T1 of the fifth bus device 1560, and the difference is calculated as described above.

[0194] A fourth step 420 of the method according to the third embodiment 400 in Fig. 4 differs from Fig. 3 in that upon receipt of the data packet on the return path 830 via the fifth second line 1570 via the third input / output port P2 of the fifth fifth bus participant 1535, a third time stamp T3 is detected by the fifth fifth bus participant 1535. Similar to Fig. 3, the third time stamp T3 is not taken into account in the seventh step 135 of the method according to the first embodiment 100 and its first to third intermediate steps 205, 210, 215 of the section 200 of the method according to the first embodiment 100 in Fig. 2. The fifth bus participant 1535 then outputs the data packet via the first input / output port PO via the fifth first line 1565 on the outgoing path 825, in Fig. 15 b, for example, to the fifth fourth bus participant 1530.

[0195] If the fifth bus subscriber 1535 receives the data packet in a fifth step 425 of the method according to the third embodiment 400 in Fig. 4 via the first input / output port PO on the return path 830 of the fifth first line 1565, the fifth bus subscriber 1535 detects the second time stamp T2 of the fifth bus subscriber 1535 and outputs the data packet via the second input / output port P1 on the return path 830 via the fifth first line 1565.

[0196] The first to eighteenth time stamps t1 to t18 of a first further timeline (not shown) with reference to the explanation of the automation network according to the fifth embodiment 1500 of Fig. 15 b are broken down in more detail in the following Table 3:

[0197] Table 3

[0198] The above explanation of Table 1 and Table 2 regarding the first and second time stamps T1, T2 for the individual bus participants applies to the time stamps of the first additional timeline (not shown) listed in Table 3. In Table 3, the third time stamp T3 for the receipt of the data packet via the third input / output port P2 of the fifth bus participant 1535 is not listed because, as mentioned above, it is not taken into account for the method according to the first embodiment 100 in Fig. 1 or the first to third intermediate steps 205-215 of the section 200 of the seventh step 135 of the method according to the first embodiment 100 in Fig. 2.

[0199] Figures 14 a and b are described together below. Fig. 14 a shows a first schematic representation of an automation network according to a fourth embodiment 1400 and Fig. 14 b shows a second schematic representation of the automation network according to the fourth embodiment 1400. The automation network according to the fourth embodiment 1400 is designed as a first and second robot arm 1403, 1404 of an industrial robot, wherein the plurality of movable axes 1402 of the fourth first and fourth second robot arms 1403, 1404 each control the individual fourth first to fourth eighteenth bus participants 1415, 1420, 1425, 1430, 1435, 1440, 1445, 1450, 1455, 1460, 1465, 1470, 1475, 1480, 1485, 1490, 1495, 1497 form.

[0200] The fourth first to fourth eighteenth bus participants 1415, 1420, 1425, 1430, 1435, 1440, 1445, 1450, 1455, 1460, 1465, 1470, 1475, 1480, 1485, 1490, 1495, 1497 may also be referred to as first to eighteenth bus participants 1415, 1420, 1425, 1430, 1435, 1440, 1445, 1450, 1455, 1460, 1465, 1470, 1475, 1480, 1485, 1490, 1495, 1497. The explanations regarding the second robot arm 1201 as an automation network according to the second embodiment 1200 in Fig. 12 also apply without restriction to the fourth first and fourth second robot arms 1403, 1404 as an automation network according to the fourth embodiment 1400 in Fig. 14.

[0201] The fourth first bus subscriber 1415 can, for example, form the base / first axis of the fourth first and fourth second robot arms 1403, 1404. The fourth second bus subscriber 1420 can, for example, form a first connecting element having first to third input / output ports P0, P1, P2, similar to the fifth bus subscriber 1535 of the automation network according to the fifth embodiment 1500 in Figs. 15 a and b. A fourth third bus subscriber 1425 is arranged at the second input / output port P1 of the fourth second bus subscriber 1420.

[0202] The fourth third bus participant 1425 is designed, for example, as a second axis of the fourth first robot arm 1403. The fourth fourth bus participant 1430 is designed, for example, as a third axis of the fourth first robot arm 1403. The fourth fifth bus participant 1435 is designed, for example, as a second connecting element of the fourth first robot arm 1403. The fourth sixth bus participant 1440 is designed, for example, as a fourth axis of the fourth first robot arm 1403. The fourth seventh bus participant 1445 is designed, for example, as a third connecting element of the fourth first robot arm 1403. The fourth eighth bus participant 1450 is designed, for example, as a fifth axis of the fourth first robot arm 1403. The fourth ninth bus participant 1455 is designed, for example, as a fourth connecting element, and the fourth tenth bus participant 1460 is designed, for example, as a first gripper of the fourth first robot arm 1403.The aforementioned fourth first to fourth tenth bus participants 1415, 1420, 1425, 140, 1435, 1440, 1445, 1450, 1455, 1460 may form a fourth first line 1565. The fourth first line 1565 may also be referred to as a first line 1565.

[0203] A fourth eleventh bus device 1465 of the fourth second robot arm 1404 can be connected via the third input / output port P2 of the fourth second bus device 1420. The fourth eleventh bus device 1465 can be designed as a seventh axis. A fourth twelfth bus device 1470 can, for example, form an eighth axis. A fourth thirteenth bus device 1475 can, for example, form a fifth connection element. A fourth fourteenth bus device 1480 can, for example, form a ninth axis. A fourth fifteenth bus device 1485 can, for example, form a sixth connection element. A fourth sixteenth bus device 1490 can, for example, form a tenth axis. A fourth seventeenth bus device 1495 can, for example, form a seventh connection element, and a fourth eighteenth bus device 1497 can, for example, form a second gripper.The aforementioned fourth eleventh to fourth eighteenth bus participants 1465, 1470, 1475, 1480, 1485, 1490, 1495, 1497 can form the fourth second robot arm 1404 and a fourth second line 1570 for the automation network 1400. The fourth second line 1570 can also be referred to as a second line 1570.

[0204] For example, the data packet from the fourth control bus node 1410 of the automation network according to the fourth embodiment 1400 can be output first via the fourth first line 1565 and then via the fourth second line 1570. It is understood that this can also be done in reverse, or a separate data packet can be output for each line. This also applies to other figures in which the bus nodes are grouped into different lines.

[0205] In the illustration in Fig. 14, for example, the fourth sixth bus participant 1440 of the fourth first robot arm 1403 and the fourth fourteenth bus participant 1480 of the second robot arm 1404 each have the second arrangement 1720. This means that they each receive an incoming data packet on the outgoing path 825 via the second input / output port P1 instead of via the first input / output port P0. Therefore, the tenth position 30 of the processing sequence of the fourth sixth bus participant 1480 differs from the sixth position 6 of the setup sequence of the fourth sixth bus participant 1480. Therefore, the eighteenth position 38 of the processing sequence of the fourth fourteenth bus participant 1480 also differs from the fourteenth position 14 of the setup sequence of the fourth fourteenth bus participant 1480.In the first arrangement 1710 of the fourth sixth bus participant 1440, the fourth sixth bus participant 1440 would have the consecutive sixth place 26 of the processing order, which would correspond to the sixth place 6 of the build order.

[0206] In the first arrangement 1710 of the fourth fourteenth bus participant 1480, the fourth fourteenth bus participant 1480 would have the consecutive fourteenth place 34 of the processing order, which would correspond to the fourteenth place 14 of the build order.

[0207] Similar to Fig. 15 b, the first to thirty-fifth time stamps t1 to t35 of a second additional timeline (not shown) in Fig. 14 a and b can also be broken down in more detail in the following Table 4:

[0208] Table 4

[0209] The explanations for Table 3 can also apply to Table 4, with the difference that Table 4 includes the third time stamp T3 for the third input / output port P2 of the fourth second bus participant 1420.

[0210] Figures 5, 10, and 16a are described together below. Figure 5 shows a schematic representation of a method for determining a setup sequence of bus subscribers of an automation network according to a fourth embodiment 500. Figure 10 shows a schematic representation of a bus subscriber according to a third embodiment 1000, and Figure 16a shows a schematic first representation of an automation network according to a sixth embodiment 1600. The automation network according to the sixth embodiment 1600 in Figure 16a has, in addition to the sixth control bus subscriber 1610, a sixth first to sixth eleventh bus subscriber 1615, 1620, 1625, 1630, 1635, 1640, 1645, 1650, 1655, 1660, 1665.The sixth first to sixth eleventh bus participants 1615, 1620, 1625, 1630, 1635, 1640, 1645, 1650, 1655, 1660, 1665 can also be referred to as the first to eleventh bus participants 1615, 1620, 1625, 1630, 1635, 1640, 1645, 1650, 1655, 1660, 1665.

[0211] The method according to the fourth embodiment 500 in Fig. 5 comprises, in a first step 505 of the method according to the fourth embodiment 500, providing the data packet, analogous to the first step 105 of the method according to the first embodiment 100. In an intermediate step 507 of the method according to the fourth embodiment 500 in Fig. 5, a check is made as to whether a third input / output port P2 and a fourth input / output port P3 are present at the respective bus subscriber, for example the sixth fifth bus subscriber 1635 of the automation network according to the sixth embodiment 1600 in Fig. 16a. This can be done in a similar way to the explanation of branch 123 of the method according to the first embodiment 100 in Fig. 1.

[0212] If no third input / output port P2 and no fourth input / output port is present on the bus participant, n-branch of branch 507 of the method according to the fourth embodiment 500, the method according to the fourth embodiment 500 in Fig. 5 leads to the second to seventh method steps 110 to 135 of the method according to the first embodiment 100 in Fig. 1.

[0213] If, however, the bus subscriber has a third input / output port P2 and a fourth input / output port P3, j-branch of branch 507 of the method according to the fourth embodiment 500, then, for example, the sixth control bus subscriber 1610 of the automation network according to the sixth embodiment 1600 can divide the bus subscribers into a sixth first line 1565, a sixth second line 1570 and a sixth third line 1575 in a second step 510 of the method according to the fourth embodiment 500. The sixth first line 1565, the sixth second line 1570 and the sixth third line 1575 can also be referred to as the first line 1565, the second line 1570 and the third line 1575.The sixth fifth bus subscriber 1635 can output the data packet via the sixth third line 1575 on the outward path via the fourth input / output port P3 in the second step 510 of the method according to the fourth embodiment 500 so that a sixth sixth bus subscriber 1640 of the sixth third line 1575 can capture a first time stamp T1 of the sixth sixth bus subscriber 1640 on the outward path.

[0214] In Fig. 16 a, the sixth first line 1565 can comprise all sixth first to sixth fifth bus participants 1615, 1620, 1625, 1630, 1635 as well as all sixth seventh to sixth tenth bus participants 1645, 1650, 1655, 1660. The sixth second line 1570 can form the sixth eleventh bus participant 1665, which is connected to the third input / output port P2 of the sixth fifth bus participant 1635.

[0215] Since the sixth sixth bus participant 1640 has not connected any further bus participant to the second input / output port P1, the sixth sixth bus participant 1640 sends the data packet directly back to the sixth fifth bus participant 1635 via the fourth input / output port P3 of the sixth fifth bus participant 1635.

[0216] The sixth fifth bus subscriber 1635 receives the data packet in a third step 515 of the method according to the fourth embodiment 500 via the fourth input / output port P3 and records a fourth time stamp T4 of the sixth fifth bus subscriber 1635. Finally, the sixth fifth bus subscriber 1635 outputs the data packet in the third step 515 of the method according to the fourth embodiment 500 via the second input / output port P1 to the sixth first line 1565 on the outgoing path 825 so that the sixth seventh to sixth tenth bus subscribers 1645, 1650, 1655, 1660 can each record the first time stamp T1 of the respective bus subscriber on the outgoing path 825 and / or the second time stamp T2 of the respective bus subscriber on the return path 830.

[0217] If the sixth fifth bus subscriber 1635 receives the data packet via the second input / output port P1 in a fourth step 520 of the method according to the fourth embodiment 500 on the return path of the sixth first line 1565, the sixth fifth bus subscriber 1635 records a second time stamp T2 of the sixth fifth bus subscriber 1635 and outputs the data packet via the third input / output port P2 on the outgoing path 825 to the sixth eleventh bus subscriber 1665 of the sixth second line 1570 so that the sixth eleventh bus subscriber 1665 can record the first time stamp T1 of the sixth eleventh bus subscriber 1665 on the outgoing path 825.If the sixth fifth bus subscriber 1635 receives the data packet via the third input / output port P2 on the return path 830 of the sixth second line 1570 in a fifth step 525 of the method according to the fourth embodiment 500, the sixth fifth bus subscriber 1635 detects a third time stamp T3 of the sixth fifth bus subscriber 1635 and outputs the data packet via the first input / output port PO on the return path 830 via the sixth first line 1565 in the direction of the sixth control bus subscriber 1610. The sixth control bus participant 1610 can then, for example, output a further data packet in order to read out the first to fourth time stamps T1 - T4 of the bus participants of the automation network according to the sixth embodiment 1600, which time stamps have been recorded by the sixth plurality of bus participants 1605, and based thereon to carry out the seventh step 135 of the method according to the first embodiment 100, includingfirst to third intermediate steps 205, 210, 215 of the section 200 of the seventh step 135 of the method according to the first embodiment 100 according to Figures 1 and 2.

[0218] It is understood that the data line 820 as well as the further data line 1504 and the second further data line 1506 may each comprise two separate data lines in order to separate the outgoing path 825 and the return path 830 for the data packet.

[0219] The sixth fifth bus node 1635 in Fig. 16a can, for example, have the structure of the bus node according to the third embodiment 1000 in Fig. 10. Here, a third data line 1020 is split into a third outbound data line 1035 for the outbound path 825 of the data packet and a third return data line 1040 for the return path 830 of the data packet. The third outbound data line 1035 and the third return data line 1040 can also be referred to as outbound data line 1035 and return data line 1040.

[0220] A processing unit 945 is arranged between the first input / output port PO of the bus subscriber according to the third embodiment 1000 in Fig. 10 and the fourth input / output port P3 of the bus subscriber according to the third embodiment 1000, wherein the processing unit 945 can be designed similarly to the bus subscriber according to the second embodiment 900 in Fig. 9. The processing unit 945 is connected to the outgoing data line 1035 of the bus subscriber according to the third embodiment 1000 on the outgoing path 825 of the data packet and is designed to process the data packet as it passes through, i.e., in parallel with the continuous reception of the data packet via the first input / output port PO. Furthermore, the processing unit 945 is designed to forward the data packet via the third outgoing data line 1035 to the fourth input / output port P3 of the bus subscriber according to the third embodiment 1000.

[0221] If a bus subscriber has only three input / output ports instead of the four input / output ports P0, P1, P2, P3 shown in Fig. 10 (not shown), the fourth input / output port P3, for example, would not be present, so that the processing unit would then be arranged between the first input / output port P0 and the second input / output port P1. The processing unit can be connected via the outgoing data line 1035 of the bus subscriber according to the third embodiment 1000 between the aforementioned input / output ports to form the outgoing path 825 for the data packet.

[0222] Figures 6 and 16b are described together below. Fig. 6 shows a schematic representation of a method for determining a setup sequence according to a fifth embodiment 600. Fig. 16b shows a schematic second representation of the automation network according to the sixth embodiment 1600 in Fig. 16a. Similar to Fig. 16a, the sixth plurality of bus participants 1605 in Fig. 16b are arranged in sixth first to third modules 1601, 1602, 1603 of the automation network according to the sixth embodiment 1600, each with three or five bus participants. The sixth first to third modules 1601, 1602, 1603 can also be referred to as first to third modules 1601, 1602, 1603. The sixth first to third modules 1601, 1602, 1603 each form tables. In contrast to Fig. 16 a, however, the sixth second module 1602 in Fig. 16 b has the second arrangement 1720.

[0223] The method according to the fifth embodiment 600 in Fig. 6 is similar to the method according to the fourth embodiment 500 in Fig. 5. A first step 605 of the method according to the fifth embodiment 600 and an intermediate step 607 of the method according to the fifth embodiment 600 in Fig. 6 can be designed similarly to the first step 505 of the method according to the fourth embodiment 500 and the intermediate step 507 of the method according to the fourth embodiment 500 in Fig. 5, therefore reference is made to the above explanation.

[0224] A second step 610 of the method according to the fifth embodiment 600 in Fig. 6 can be similar to the second step 510 of the method according to the fourth embodiment 500 in Fig. 5 in that the sixth control bus participant 1610 can divide the bus participants into a sixth first line 1565, a sixth second line 1570 and a sixth third line 1575, provided, for example, that the bus participant, in Fig. 16 b the sixth fifth bus participant 1635, has a third input / output port P2 and a fourth input / output port P3. For example, receivesthe sixth fifth bus subscriber 1635 receives the data packet via the second input / output port P1, the sixth fifth bus subscriber 1635 detects the first time stamp T1 of the sixth fifth bus subscriber 1635 and outputs the data packet in the second step 610 of the method according to the fifth embodiment 600 via the third input / output port P2 via the sixth second line 1570 on the outgoing path 825 to the sixth eleventh bus subscriber 1665.

[0225] In the second arrangement 1720 of the sixth second module 1602, the second input / output port P1 corresponds to the input / output port of the sixth fifth bus subscriber 1635, which faces the preceding sixth seventh bus subscriber 1645 and via which the sixth fifth bus subscriber 1635 consequently receives a data packet on the outgoing path 825. The sixth eleventh bus subscriber 1665 can then capture the first time stamp T1 of the sixth eleventh bus subscriber 1665 upon receipt of the data packet via the first input / output port P0 of the sixth eleventh bus subscriber 1665.

[0226] In a third step 615 of the method according to the fifth embodiment 600, the sixth fifth bus subscriber 1635 can detect the third time stamp T3 of the sixth fifth bus subscriber 1635 upon receipt of the data packet on the return path of the second line 1570 via the third input / output port P2. Furthermore, in the third step 615 of the method according to the fifth embodiment 600, the sixth fifth bus subscriber 1635 can output the data packet via the first input / output port PO via the first line 1565 on the outward path 825. In the second arrangement 1720 of the sixth fifth bus subscriber 1635, the first input / output port PO is the input / output port facing the sixth fourth bus subscriber 1630 of the first line 1565. The bus participants of the first line 1565 can then each record the first time stamp T1 of the bus participants on the outward path 825 of the data packet and / or the second time stamp T2 of the bus participants on the return path 830 of the data packet.

[0227] In a fourth step 620 of the method according to the fifth embodiment 600, the sixth fifth bus subscriber 1635 detects the second time stamp T2 of the sixth fifth bus subscriber 1635 upon receipt of the data packet via the first input / output port PO on the return path 830 of the first line. Furthermore, in the fourth step 620 of the method according to the fifth embodiment 600, the sixth fifth bus subscriber 1635 outputs the data packet to the sixth sixth bus subscriber 1640 via the fourth input / output port on the outgoing path 825 of the third line 1575. The sixth sixth bus subscriber 1640 can then detect the first time stamp T1 of the sixth sixth bus subscriber 1640 upon receipt of the data packet via the first input / output port and then output the data packet to the sixth fifth bus subscriber 1635 on the return path 830 of the third line 1575.

[0228] The sixth fifth bus subscriber 1635 receives the data packet in a fifth step 625 of the method according to the fifth embodiment 600 via the fourth input / output port P3 and in doing so records a fourth time stamp T4 of the sixth fifth bus subscriber 1635. Finally, the sixth fifth bus subscriber 1635 outputs the data packet via the second input / output port P1 on the return path 830 to the first line 1565 in the direction of the sixth control bus subscriber 1610. The sixth control bus subscriber 1610 can then proceed similarly to the above explanation in connection with Figs. 5 and 16a, i.e. read out the recorded first to fourth time stamps T1-T4 of the sixth plurality of bus subscribers 1605 via a further data packet and, based thereon, carry out the seventh step 135 of the method according to the first embodiment 100, includingfirst to third intermediate steps 205, 210, 215 of the section 200 of the seventh step 135 of the method according to the first embodiment 100 according to Figures 1 and 2.

[0229] It is understood that the sixth fifth bus subscriber 1635 in Fig. 16b may have a structure corresponding to the bus subscriber according to the third embodiment 1000 in Fig. 10. To simplify the above explanation of Figs. 6 and 16b, the presence of a processing unit in the plurality of bus subscribers 1605 of the automation network according to the sixth embodiment 1600 has not been taken into account. However, it is understood that the sixth plurality of bus subscribers 1605 may include these.

[0230] Similar to the above explanations, the first to nineteenth time stamps t1 to t19 of a third additional timeline (not shown) can be broken down in more detail in Table 5 below:

[0231] Table 5

[0232] The time stamps t1 to t19 of Table 5 can each form first and second time stamps T1, T2 of the bus participants of the automation network according to the sixth embodiment 1600, which are used to determine the setup sequence of the sixth plurality of bus participants 1605 according to the explanation of Figs. 6 and 16b. However, Table 5 does not include a third time stamp T3 for the receipt of the data packet via the third input / output port P2 of the sixth fifth bus participant 1635 and a fourth time stamp T4 for the receipt of the data packet via the fourth input / output port P3.

[0233] Fig. 7 shows a schematic representation of a method 700 for controlling a plurality of bus subscribers in an automation network. The method 700 for controlling the plurality of bus subscribers can be applied to all of the explained embodiments of the automation networks. A first step 705 of the method 700 for controlling the plurality of bus subscribers comprises providing a plurality of bus subscribers in an automation network. In a second step 710 of the method 700 for controlling the plurality of bus subscribers, a method for determining a setup sequence of a plurality of bus subscribers in the automation network according to a first to fifth embodiment 100, 300, 400, 500, 600 as well as the section 200 of the seventh step 135 of the method according to the first embodiment 100 is carried out according to the above features.The method for determining the setup sequence of the plurality of bus subscribers in the automation network according to the first to fifth embodiments 100, 300, 400, 500, 600, as well as the section 200 of the seventh step 135 of the method according to the first embodiment 100, form the basis for assigning the processing sequence to the setup sequence of the bus subscribers. In a third step 715 of the method 700 for controlling the plurality of bus subscribers, the plurality of bus subscribers in the respective automation network are controlled on the basis of the determined setup sequence of the bus subscribers using the method for determining the setup sequence of the plurality of bus subscribers in the automation network according to the first to fifth embodiments 100, 300, 400, 500, 600, as well as the section 200 of the seventh step 135 of the method according to the first embodiment 100.

[0234] The invention has been described in detail using preferred embodiments. Instead of the described embodiments, further embodiments are conceivable, which may include further modifications or combinations of the described features. For this reason, the invention is not limited to the disclosed examples, since other variations may be derived therefrom by a person skilled in the art without departing from the scope of the invention.

[0235] List of reference symbols

[0236] 1-18 first to eighteenth place of the setup order

[0237] 21-38 first to eighteenth place of processing order

[0238] RX receiving unit

[0239] TX transmitting unit Method according to a first embodiment First step of the method according to the first embodiment Second step of the method according to the first embodiment Third step of the method according to the first embodiment Fourth step of the method according to the first embodiment Intermediate step of the method according to the first embodiment Fifth step of the method according to the first embodiment Sixth step of the method according to the first embodiment Seventh step of the method according to the first embodiment

[0240] Excerpt from the method for determining a setup sequence of bus devices of an automation network. First intermediate step of the excerpt from the method for determining bus devices. Second intermediate step of the excerpt from the method for determining bus devices. Third intermediate step of the excerpt from the method for determining bus devices.

[0241] Method according to a second embodiment First step of the method according to the second embodiment Intermediate step of the method according to the second embodiment Second step of the method according to the second embodiment Third step of the method according to the second embodiment Fourth step of the method according to the second embodiment Fifth step of the method according to the second embodiment

[0242] Method according to a third embodiment First step of the method according to the third embodiment Intermediate step of the method according to the third embodiment Second step of the method according to the third embodiment Third step of the method according to the third embodiment Fourth step of the method according to the third embodiment Fifth step of the method according to the third embodiment

[0243] Method according to a fourth embodiment first step of the method according to the fourth embodiment intermediate step of the method according to the fourth embodiment second step of the method according to the fourth embodiment third step of the method according to the fourth embodiment fourth step of the method according to the fourth embodiment fifth step of the method according to the fourth embodiment Method according to a fifth embodiment first step of the method according to the fifth embodiment intermediate step of the method according to the fifth embodiment second step of the method according to the fifth embodiment third step of the method according to the fifth embodiment fourth step of the method according to the fifth embodiment fifth step of the method according to the fifth embodiment Method for controlling a plurality of bus participants in an automation network first step of the method for controlling thePlurality of bus participants Second step of the method for controlling the plurality of bus participants Third step of the method for controlling the plurality of bus participants Bus participants according to a first embodiment First plurality of input / output ports Data line Outbound path Return path First time stamp Second time stamp Third time stamp Fourth time stamp First time stamp of the timeline t2 Second time stamp of the timeline t3 Third time stamp of the timeline t4 Fourth time stamp of the timeline t5 Fifth time stamp of the timeline t6 Sixth time stamp of the timeline t7 Seventh time stamp of the timeline t8 Eighth time stamp of the timeline t9 Ninth time stamp of the timeline t10 Tenth time stamp of the timeline t11 Eleventh time stamp of the timeline t12 Twelfth time stamp of the timeline t13 Thirteenth time stamp of the timeline t14 Fourteenth time stamp of the timeline t15 Fifteenth time stamp of the timeline t16 sixteenth timestampof the timeline t17 seventeenth timestamp of the timeline

[0244] PO first input / output port

[0245] P1 second input / output port

[0246] P2 third input / output port

[0247] P3 fourth input / output port

[0248] 900 bus participants according to a second embodiment

[0249] 905 second plurality of input / output ports

[0250] 935 second outgoing data line

[0251] 940 second return data line

[0252] 945 processing unit

[0253] 950 local clock

[0254] 955 storage unit

[0255] 1000 bus participants according to a third embodiment

[0256] 1005 third plurality of input / output ports

[0257] 1020 third data line

[0258] 1035 third outbound data line

[0259] 1040 third return path data line 1100 Automation network according to a first embodiment

[0260] 1105 first majority of bus participants

[0261] 1110 first control bus participant

[0262] 1115 first bus participant

[0263] 1120 first second bus participant

[0264] 1125 first third bus participant

[0265] 1130 first fourth bus participant

[0266] 1135 first fifth bus participant

[0267] 1200 Automation network according to a second embodiment

[0268] 1201 second robot arm

[0269] 1202 second plurality of movable axes

[0270] 1205 second majority of bus participants

[0271] 1210 second control bus participant

[0272] 1215 second first bus participant

[0273] 1220 second second bus participant

[0274] 1225 second third bus participant

[0275] 1230 second fourth bus participant

[0276] 1235 second fifth bus participant

[0277] 1240 second sixth bus participant

[0278] 1245 second seventh bus participant

[0279] 1250 second eighth bus participant

[0280] 1255 second ninth bus participant

[0281] 1300 Automation network according to a third embodiment

[0282] 1301 third first module

[0283] 1302 third second module

[0284] 1303 third third module

[0285] 1305 third majority of bus participants

[0286] 1310 third control bus participant

[0287] 1315 third first bus participant

[0288] 1320 third second bus participant

[0289] 1325 third third bus participant

[0290] 1330 third fourth bus participant

[0291] 1335 third fifth bus participant 1340 third sixth bus participant

[0292] 1345 third seventh bus participant

[0293] 1350 third eighth bus participant

[0294] 1355 third ninth bus participant

[0295] 1400 Automation network according to a fourth embodiment

[0296] 1402 fourth plurality of movable axes

[0297] 1403 fourth first robot arm

[0298] 1404 fourth second robot arm

[0299] 1405 fourth majority of bus participants

[0300] 1410 fourth control bus participant

[0301] 1415 fourth first bus participant

[0302] 1420 fourth second bus participant

[0303] 1425 fourth third bus participant

[0304] 1430 fourth fourth bus participant

[0305] 1435 fourth fifth bus participant

[0306] 1440 fourth sixth bus participant

[0307] 1445 fourth seventh bus participant

[0308] 1450 fourth eighth bus participant

[0309] 1455 fourth ninth bus participant

[0310] 1460 fourth tenth bus participant

[0311] 1465 fourth eleventh bus participant

[0312] 1470 fourth twelfth bus participant

[0313] 1475 fourth thirteenth bus participant

[0314] 1480 fourth fourteenth bus participant

[0315] 1485 fourth fifteenth bus participant

[0316] 1490 fourth sixteenth bus participant

[0317] 1495 fourth seventeenth bus participant

[0318] 1497 fourth eighteenth bus participant

[0319] 1500 Automation network according to a fifth embodiment

[0320] 1501 fifth first module

[0321] 1502 fifth second module

[0322] 1503 fifth third module

[0323] 1504 fifth additional data line

[0324] 1505 fifth plurality of bus participants 1506 fifth second additional data line

[0325] 1510 fifth control bus participant

[0326] 1515 fifth first bus participant

[0327] 1520 fifth second bus participant

[0328] 1525 fifth third bus participant

[0329] 1530 fifth fourth bus participant

[0330] 1535 fifth fifth bus participant

[0331] 1540 fifth sixth bus participant

[0332] 1545 fifth seventh bus participant

[0333] 1550 fifth eighth bus participant

[0334] 1555 fifth ninth bus participant

[0335] 1560 fifth tenth bus participant

[0336] 1565 first line

[0337] 1570 second line

[0338] 1575 third line

[0339] 1600 Automation network according to a sixth embodiment

[0340] 1601 sixth first module

[0341] 1602 sixth second module

[0342] 1603 sixth third module

[0343] 1605 sixth majority of bus participants

[0344] 1610 sixth control bus participant

[0345] 1615 sixth first bus participant

[0346] 1620 sixth second bus participant

[0347] 1625 sixth third bus participant

[0348] 1630 sixth fourth bus participant

[0349] 1635 sixth fifth bus participant

[0350] 1640 sixth sixth bus participant

[0351] 1645 sixth seventh bus participant

[0352] 1650 sixth eighth bus participant

[0353] 1655 sixth ninth bus participant

[0354] 1660 sixth tenth bus participant

[0355] 1665 sixth eleventh bus participant

[0356] 1700 first timeline

[0357] 1705 second timeline 1710 first arrangement

[0358] 1720 second order

Claims

Patent claims 1. Method (100, 200, 300, 400, 500, 600) for determining a bus subscriber arrangement in an automation network (1100, 1200, 1300, 1400, 1500, 1600), wherein the automation network (1100, 1200, 1300, 1400, 1500, 1600) comprises a control bus subscriber (1110, 1210, 1310) and a plurality of bus subscribers (1105, 1205, 1305, 1405, 1505, 1605), wherein the bus subscribers (1105, 1205, 1305, 1405, 1505, 1605) starting from the control bus subscriber (1110, 1210, 1310) are connected to one another in a ring structure via a data line network with at least one data line (820, 1020), wherein each bus subscriber has at least a first and a second input / output port, wherein the first input / output port (PO) and the second input / output port (P1) each have a receiving unit for receiving data packets and a transmitting unit for transmitting data packets,wherein a data connection exists between the receiving unit of the first input / output port (PO) and the transmitting unit of the second input / output port (P1) and between the receiving unit of the second input / output port (PO) and the transmitting unit of the first input / output port (P1), wherein the data line (820, 1020) has a forward path and a return path for data packets output by the control bus subscriber (1110, 1210, 1310), wherein the forward path for the data packets leads from the control bus subscriber to the receiving unit of one input / output port of the first bus subscriber (800, 900, 1000), extends over the data connection between the receiving unit of one input / output port and the transmitting unit of the other input / output port of the first bus subscriber, from which Sending unit of the other 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 over the data connection between the receiving unit of one input / output port and the transmitting unit of the other input / output port of the next bus subscriber, and further starting from the transmitting unit of the other input / output port of the next bus subscriber, if another bus subscriber is connected to the other input / output port via the data line (820, 1020), to the last bus subscriber to whose other input / output port no bus subscriber is connected via the data line (820, 1020), wherein in the last bus subscriber the data packets are routed from the outgoing path to the return path, wherein the return path extends over the data connection between the receiving unit of the other input / output port of the last bus subscriber and the transmitting unit of the one input / output port of the last bus subscriber, leads from the transmitting unit of the one input / output port of the last bus subscriber to the receiving unit of the other input / output port of the preceding bus subscriber (800, 900, 1000), extends over the data connection between the receiving unit of the other input / output port and the transmitting unit of the one input / output port of the preceding bus subscriber, and leads from the transmitting unit of the one input / output port of the preceding bus subscriber via further preceding bus subscribers to the control bus subscriber, wherein the method (100, 200, 300, 400, 500, 600) comprises the following steps: outputting a data packet by the Control bus participants (1110, 1210, 1310) on the data line,wherein each bus participant records an outbound time stamp upon receipt of the data packet through one input / output port on the outbound path and a return time stamp upon receipt of the data packet through the other input / output port on the return path, relating the recorded time stamps of each bus participant (800, 900, 1000) by forming a difference (205) between the outbound time stamp and the return time stamp of the bus participant (800, 900, 1000), wherein for the last bus participant for which only a first time stamp is recorded, the second time stamp is set equal to the first time stamp, Sorting the difference amounts from the largest value to the smallest value in order to determine the setup sequence of the bus devices starting from the control bus device as a setup line of the bus devices.

2. The method according to claim 1, wherein each bus subscriber has a processing unit (945) which is arranged in the data connection between the receiving unit of the first input / output port (PO) and the transmitting unit of the second input / output port (P1) in order to process data packets, wherein in the difference formation between the outgoing time stamp and the return time stamp of the bus subscriber (800, 900, 1000), the first value is the time stamp assigned to the first input / output port (PO) and the second value is the time stamp of the bus subscriber (800, 900, 1000) assigned to the second input / output port (P1), and wherein the sign of the difference between the first input / output port (PO) assigned time stamp and the time stamp assigned to the second input / output port (P1) is evaluated in order to determine the processing sequence of the bus participants within the setup sequence of the bus participants.

3. The method according to claim 1 or 2, wherein the processing units (945) in the bus participants process the data packets in a throughput process and wherein the EtherCAT transmission protocol is used as the communication protocol in the automation network.

4. The method according to any one of claims 1 to 3, wherein the time stamps in the bus subscriber are recorded using a clock functionality of the bus subscriber, wherein the clock functionality provides the bus subscriber with a local system time.

5. The method according to one of claims 1 to 4, wherein at least one bus participant has a further second input / output port (P2) with a receiving unit for receiving data packets and a transmitting unit for transmitting data packets, wherein the further 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 (PO), wherein the receiving unit of the second input / output port (P1) is connected to the transmitting unit of the further second input / output port (P2) and the receiving unit of the further second input / output port (P2) is connected to the transmitting unit of the first input / output port (PO), wherein further bus participants are connected from the further second input / output port (P2) via the data line network to a further data line (820, 1020) can be integrated into the ring structure,wherein the outgoing path for the data packets leads from the transmitting unit of the further second input / output port (P2) to the receiving unit of the one input / output port of a further bus subscriber (800, 900, 1000), extends over the data connection between the receiving unit of the one input / output port and the transmitting unit of the other input / output port of the further bus subscriber, leads from the transmitting unit of the other input / output port of the first bus subscriber to the receiving unit of the one input / output port of the next bus subscriber (800, 900, 1000), extends over the data connection between the receiving unit of the one input / output port and the transmitting unit of the other input / output port of the next bus subscriber, and further from the transmitting unit of the other input / output port of the, next bus subscriber, if another bus subscriber is connected to the other input / output port via the data line (820, 1020), to the last bus subscriber to whose other input / output port no bus subscriber is connected via the data line (820, 1020), wherein in the last bus subscriber the data packets are routed from the outgoing path to the return path, wherein the return path extends via the data connection between the receiving unit of the other input / output port of the last bus subscriber and the transmitting unit of one input / output port of the last bus subscriber, from the transmitting unit of one input / output port of the last bus subscriber to the receiving unit of the other input / output port of the preceding bus subscriber (800, 900, 1000), extends via the data connection between the receiving unit of the other input / output port and the transmitting unit of one Input / output ports of the preceding bus device,and from the transmitting unit of one input / output port of the preceding bus subscriber via further preceding bus subscribers to the receiving unit of the further second input / output port (P2), wherein the differences formed between the outgoing time stamp and the return time stamp of the bus subscribers (800, 900, 1000) are sorted from the largest value to the smallest value in order to determine the setup sequence of the bus subscribers starting from the control bus subscriber, for the bus subscribers connected to the further second input / output port (P2) separately from the other bus subscribers in order to determine a further setup line (1570) at the bus subscriber starting from the further second input / output port (P2).

6. The method according to any one of claims 1 to 5, wherein the time stamps are each storable in a memory unit (955) of the bus subscriber, wherein the control bus subscriber (1110, 1210, 1310) can read from the memory unit (955) of the bus subscriber by sending a further data packet in order to obtain the recorded time stamps and to determine the setup sequence of the bus subscribers.

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