Industrial ethernet communication method and system, network device, and computer storage medium

Abstract

The present application discloses an industrial Ethernet communication method and system, a network device, and a computer storage medium. The method comprises: receiving a PDO packet sent by an industrial master station or a previous industrial slave station, and determining whether to forward the PDO packet to a next industrial slave station; and when a frame processing unit receives the PDO packet returned from the next industrial slave station, or determines that the PDO packet is not forwarded to the next industrial slave station, and if it is determined, on the basis of a preset address mapping rule, that a read instruction is present in the PDO packet, responding to the read instruction to write read target data into a target position of the PDO packet, and then forwarding the PDO packet to the industrial master station or the previous industrial slave station.

Description

Industrial Ethernet communication method, system, network device and computer storage medium

[0001] This application claims priority to Chinese Patent Application No. 202410980236.X, filed on July 22, 2024, the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0002] The present application relates to the field of Ethernet communication, in particular to an industrial Ethernet communication method, system and network device. BACKGROUND

[0003] At present, there are many industrial Ethernet protocols for real-time control and communication in the field of industrial automation, among which the EtherCAT protocol is one of the fastest communication protocols. EtherCAT and traditional communication protocols such as Modbus TCP protocol are both based on Ethernet and adopt a master-slave communication mode. In the same scenario, the communication speed of EtherCAT protocol is faster, which can easily cope with real-time control scenarios, achieve faster data transmission and shorter communication cycle, while the communication speed of Modbus TCP protocol is slower, which is suitable for scenarios with small data volume and low real-time requirements. EtherCAT slave station needs a dedicated chip to complete protocol analysis to ensure the real-time performance of data communication. The communication mode of EtherCAT mainly includes PDO and SDO. PDO is used for periodic data communication, and SDO is used for non-periodic data communication. Among them, PDO communication is completed by means of FMMU mechanism, logical read-write instructions, etc. to quickly collect and issue data from EtherCAT slave station.

[0004] Generally speaking, the PDO communication mode of EtherCAT is to send a PDO message by the master station. When the PDO message passes through each slave station in turn, according to the FMMU mapping rule, the logical read instruction is used to collect the data of the slave station device. After reaching the last slave station node, the original route is returned, and each slave station is passed through in turn. During the return process, each slave station does not process the message, so that in the face of a large number of slave stations, complex topology and strict real-time requirements of the collection scene, the data collected by the first slave station is effective only after the last slave station completes the collection and returns to the master station, which greatly reduces the real-time effectiveness of the first collected slave station device data. TECHNICAL PROBLEM

[0005] Therefore, in order to solve the technical problem of poor real-time performance of slave station device data collection in the prior art under the condition of a large number of slave stations and complex topology, the present application provides an industrial Ethernet communication method, system and network device. TECHNICAL SOLUTION

[0006] In a first aspect, the present application provides an industrial Ethernet communication method applied to an industrial slave station, comprising:

[0007] receiving a PDO message issued by an industrial master station or a previous industrial slave station, and determining whether to directly forward the PDO message to a next industrial slave station when the PDO message passes through an internal frame processing unit;

[0008] In the case that the frame processing unit receives the PDO message returned by the next industrial slave station or determines that the PDO message is not to be forwarded to the next industrial slave station, if it is determined by a preset address mapping rule that there is a read instruction in the PDO message, the read target data is written into a target position in the PDO message in response to the read instruction, and the PDO message after the writing is forwarded to the industrial master station or the previous industrial slave station.

[0009] In an embodiment, the process of determining whether to directly forward the PDO message to the next industrial slave station when the PDO message passes through the internal frame processing unit further comprises:

[0010] determining whether there is a write instruction in the PDO message by the preset address mapping rule when the frame processing unit first receives the PDO message;

[0011] if not, determining whether to directly forward the PDO message to the next industrial slave station;

[0012] if yes, responding to the write instruction, and determining whether to directly forward the PDO message to the next industrial slave station after determining that the execution of the write instruction is completed.

[0013] In an embodiment, the industrial Ethernet communication method further comprises:

[0014] determining whether there is a read instruction in the PDO message based on the preset address mapping rule when the PDO message passes through the internal frame processing unit for the second time, and responding to the read instruction if there is.

[0015] In an embodiment, determining whether there is a write instruction in the PDO message based on the preset address mapping rule when the PDO message passes through the internal frame processing unit for the first time, and responding to the write instruction and making the work counter value in the PDO message increase by one if there is a write instruction.

[0016] The industrial slave station determines whether there is a read instruction in the PDO message based on the preset address mapping rule when the industrial slave station passes the frame processing unit inside the PDO message for the second time; if there is a read instruction, the industrial slave station responds to the read instruction and makes the work counter value in the PDO message increase by one.

[0017] In an embodiment, the process of determining whether there is a read instruction in the PDO message based on the preset address mapping rule comprises:

[0018] The PDO message is parsed, and the address space in a mapping relationship with the physical address space of the current industrial slave station in the data part of the PDO message is found according to the field bus memory management unit mapping rule.

[0019] It is determined whether there is a read instruction in the address space.

[0020] In an embodiment, the target position is the address space in a mapping relationship with the physical address space of the current industrial slave station in the PDO message based on the preset address mapping rule.

[0021] In a second aspect, the present application provides an industrial Ethernet communication method applied to an industrial master station, and the industrial Ethernet communication method comprises:

[0022] A preset address mapping rule is configured;

[0023] A PDO message is issued, wherein the PDO message passes each industrial slave station in turn, so that each industrial slave station writes the target data read into the PDO message when the industrial slave station determines that there is a read instruction in the PDO message based on the preset address mapping rule in the return process of the PDO message.

[0024] The PDO message returned by each industrial slave station is received.

[0025] In a third aspect, the present application provides an industrial Ethernet communication system comprising an industrial master station and a plurality of industrial slave stations.

[0026] The industrial master station is configured to execute the industrial Ethernet communication method described above to issue a PDO message through an industrial Ethernet bus, wherein the PDO message passes each industrial slave station in turn, so that each industrial slave station executes the industrial Ethernet communication method described above.

[0027] In a fourth aspect, the present application provides a network device comprising a memory and a processor, wherein the memory stores a computer program, and the processor is configured to execute the computer program to implement the industrial Ethernet communication method described above.

[0028] In a fifth aspect, the present application provides a computer storage medium, which stores a computer program, and the computer program is executed to implement the industrial Ethernet communication method. Advantages

[0029] The embodiment of the present application provides an industrial Ethernet communication method, which is applied to an industrial slave station, and specifically comprises the following steps: receiving a PDO message sent by an industrial master station or a previous industrial slave station; determining whether to directly forward the PDO message to a next industrial slave station when the PDO message passes through an internal frame processing unit; in the case that the frame processing unit receives a PDO message returned by the next industrial slave station or determines that the PDO message is not forwarded to the next industrial slave station, if it is determined through a preset address mapping rule that there is a read instruction in the PDO message, then responding to the read instruction, writing the read target data into a target position in the PDO message, and forwarding the PDO message after the writing to the industrial master station or the previous industrial slave station. In the case that the number of slave stations is large and the topology structure is complex, each slave station responds to the read instruction carried in the PDO message to collect the internal data in the process of returning the PDO message, so that the real-time performance and effectiveness of the data such as sensitive data collected by each slave station are ensured, and the master station can quickly respond based on the real-time performance of the data after receiving the data, thereby avoiding the problem that the collected data is not real-time and effective due to the long time of returning and transmitting the data to the master station in the process of sending the message. BRIEF DESCRIPTION OF DRAWINGS

[0030] In order to more clearly illustrate the technical solutions of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the protection scope of the present application. In each drawing, similar components are marked with similar reference numerals.

[0031] Fig. 1 shows a schematic diagram of an internal structure of an industrial slave station;

[0032] Fig. 2 shows a schematic diagram of an industrial Ethernet topology architecture in the embodiment of the present application;

[0033] Fig. 3 shows a schematic diagram of an industrial Ethernet communication method in the embodiment of the present application;

[0034] Fig. 4 shows another schematic diagram of an industrial Ethernet communication method in the embodiment of the present application;

[0035] Fig. 5 shows a schematic diagram of an internal structure of an industrial slave station in the embodiment of the present application;

[0036] Fig. 6 shows a schematic diagram of an industrial Ethernet communication system in the embodiment of the present application. Embodiments of the present application

[0037] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application.

[0038] The components of the embodiments of the present application generally described and illustrated herein can be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application, but merely represents selected embodiments of the present application. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments of the present application without creative work are within the scope of the present application.

[0039] Hereinafter, the terms "include", "have", and their conjugates used in the various embodiments of the present application merely indicate that specific features, numbers, steps, operations, elements, components, or combinations thereof are present and do not exclude the presence or addition of one or more other features, numbers, steps, operations, elements, components, or combinations thereof.

[0040] In addition, the terms "first", "second", "third", and the like are used only to distinguish descriptions, and cannot be understood as indicating or implying relative importance.

[0041] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of the present application belong. The terms (such as those defined in commonly used dictionaries) will be interpreted as having a meaning that is the same as the contextual meaning in the relevant technical field and will not be interpreted as having an idealized or overly formal meaning, unless clearly defined in the various embodiments of the present application.

[0042] EtherCAT (Ethernet Control Automation Technology, hereinafter referred to as EtherCAT) is a real-time industrial Ethernet technology based on Ethernet technology. This technology not only has the characteristics of high speed and high efficiency, but also has a flexible network topology, and encapsulates IP / UDP in the protocol, so it can realize communication without IP protocol. This technology adopts a master-slave structure, the master station has the bus control right, the master station issues messages according to the control cycle, and the data frame traverses all slave stations. Each slave station addresses the message to the station when the data frame passes, and writes data or reads data into the specified position of the message according to the command in the data frame. Until the data frame accesses the last slave station in the entire bus.

[0043] PDO (Process Data Object) is a data transmission format for real-time Ethernet (Ethernet / IP) communication, which is used to transmit real-time data and provide a direct access channel to device application objects. It realizes efficient data transmission and interaction between devices by encapsulating process data in a standardized message structure.

[0044] FMMU (Fieldbus Memory Management Unit) is one of the core modules in the EtherCAT slave station control IP core, which is used to realize the logical addressing of the master station to the slave station. FMMU realizes the mapping between logical address and slave station physical address, and supports bit mapping. FMMU unit is configured by the master station and transmitted to the slave device in link startup. Each FMMU unit needs the following configuration information: data logical bit start address, slave station physical memory start address, bit length, type bit indicating mapping direction (input or output), and all data in the slave device can be mapped to the master station logical address by bit.

[0045] Generally speaking, based on the EtherCAT PDO communication mode, the industrial master station (i.e. EtherCAT master station) sends the PDO message to the industrial slave station (i.e. EtherCAT slave station), and the message passes through each EtherCAT slave station in turn, as shown in FIG. 1. After the PDO message enters from the Port0 port (i.e. input port) of each EtherCAT slave station, it is first processed by the frame processing unit for protocol data processing; and then forwarded to other EtherCAT slave stations through the Port2 port (i.e. output port), wherein the forwarding process of the message does not pass through the frame processing unit but is directly forwarded through the Port2 port.

[0046] Wherein, if the time for each EtherCAT slave station to process the EtherCAT protocol after receiving the PDO message through the frame processing unit is t1, and the transmission time between the ports of any two adjacent EtherCAT slave stations is t2, wherein the hardware delay is ignored; further, when the EtherCAT master station sends a PDO message, each EtherCAT slave station collects internal slave device data in response to the read instruction carried by the message, and after the PDO message reaches the last EtherCAT slave station, the PDO message returns along the original path, and each EtherCAT slave station does not process the returned PDO message. Wherein, taking the first EtherCAT slave station (i.e. slave station 1) as an example, at t1+t2, slave station 1 stores the data collected in response to the read instruction into the corresponding position of the PDO message, and the PDO message with the written data then passes through the remaining EtherCAT slave stations (if the number of remaining slave stations to be passed through is 8) in turn, and finally returns to the EtherCAT master station, and the time corresponding to the return of the PDO message to the master station is 9t1+18t2. This means that the data collected by slave station 1 at t1+t2 cannot be processed by the EtherCAT master station until 9t1+18t2. Further, as the number of slave stations in the industrial Ethernet topology increases, the topology becomes more complex, and the time for the data collected by each slave station to be sent to the master station will increase by a multiple of (t1+2t2). That is, in this topology, the real-time performance of the data collected by the slave stations in the earlier order is more affected, which further causes the master station to be unable to respond quickly based on the real-time validity of the collected data, thereby affecting the overall processing efficiency.

[0047] Based on this, the embodiment of the present application provides an industrial Ethernet communication method, which can be specifically applied to an industrial slave station (i.e. an EtherCAT slave station), wherein the industrial slave station works in an industrial Ethernet network topology, the network topology includes an industrial master station (i.e. an EtherCAT master station) and an industrial slave station, and the industrial master station and the industrial slave station transmit signals or data through an industrial Ethernet bus (i.e. an EtherCAT bus). In the same network topology, the number of industrial master stations and industrial slave stations is not limited.

[0048] For reference, as shown in FIG. 2, if the network topology includes one EtherCAT master station and multiple EtherCAT slave stations, wherein the device performance of each EtherCAT slave station is the same, the distance between each EtherCAT slave station is the same, the EtherCAT master station and each EtherCAT slave station are connected by a MII interface 100M network cable, and each EtherCAT slave station collects the same amount of data in response to the read instruction issued by the EtherCAT master station.

[0049] Furthermore, the EtherCAT master station can send a PDO message to the first EtherCAT slave station via the EtherCAT bus. The PDO message then passes through each EtherCAT slave station in sequence. After receiving the PDO message, each EtherCAT slave station responds to the instructions carried in the PDO message and completes operations such as data acquisition or writing from the EtherCAT slave station by the EtherCAT master station.

[0050] It is worth noting that in this embodiment, the PDO message is ensured to pass through the frame processing unit of each EtherCAT slave station during both transmission and return. This ensures that each EtherCAT slave station only responds to the read command carried in the PDO message to collect its internal data during the PDO message return process. This guarantees the real-time performance and validity of data collected by each EtherCAT slave station, such as sensitive data. This allows the EtherCAT master station to respond quickly based on the real-time performance of the data after receiving it, avoiding the problem that the real-time validity of the collected data is reduced due to the long time it takes to be transmitted to the EtherCAT master station later with the message, when responding to the read command during message transmission.

[0051] As exemplified, as shown in Figure 3, the process of an industrial master station executing an industrial Ethernet communication method may include the following steps:

[0052] S110, configure preset address mapping rules.

[0053] S120 sends PDO messages so that the PDO messages pass through each industrial slave station in sequence.

[0054] S130 receives PDO messages transmitted back from each industrial slave station.

[0055] In this embodiment, the industrial master station pre-configures address mapping rules before sending PDO messages. These pre-configured address mapping rules map a continuous logical address space to a continuous physical address space of each industrial slave station, thereby enabling the addressing of data within arbitrarily distributed industrial slave stations via a single PDO message. The specific configuration process of these address mapping rules can be adjusted according to actual needs, and this embodiment does not limit it in this way.

[0056] Then, after configuring the address mapping rule, a PDO message is sent. The PDO message passes through each industrial slave station in sequence. After receiving the PDO message, each industrial slave station uses the address mapping rule to address the corresponding data, adds the data to the PDO message, and then sends the PDO message back to the industrial master station.

[0057] During this process, each industrial slave station only responds to the read command carried in the PDO message during the PDO message return process. That is, each industrial slave station only addresses the target data inside during the PDO message return process to write it into the PDO message, and then returns the PDO message with the written data to the industrial master station.

[0058] Correspondingly, as shown in Figure 4, the process of any industrial slave station executing this industrial Ethernet communication method may include the following steps:

[0059] S210 receives PDO messages sent by the industrial master station or the previous industrial slave station. When the PDO message passes through the internal frame processing unit, it determines whether to forward it directly to the next industrial slave station.

[0060] S220: When the frame processing unit receives a PDO message returned by the next industrial slave station or determines that the PDO message will not be forwarded to the next industrial slave station, if it is determined through the preset address mapping rule that there is a read instruction in the PDO message, it responds to the read instruction to write the read target data to the target position in the PDO message, and then forwards the PDO message with the written data to the industrial master station or the previous industrial slave station.

[0061] It should be noted that this embodiment does not limit the execution order of S210~S220. In one embodiment, S210 and S220 can be performed simultaneously.

[0062] In this embodiment, referring to Figure 5, after any EtherCAT slave receives a PDO message from the EtherCAT master or the previous EtherCAT slave, it sends the PDO message to the internal frame processing unit. In the frame processing unit, the PDO message is parsed to determine the instruction information carried by the PDO message, and then it determines whether to forward the PDO message directly to the next EtherCAT slave based on the instruction information carried.

[0063] When the frame processing unit first receives the PDO message, it determines whether a write instruction exists within the PDO message using a preset address mapping rule. This means that within the frame processing unit, upon first receiving the PDO message, it parses the message and then uses the preset address mapping rule to determine whether a read instruction exists in the data portion of the parsed PDO message. This preset address mapping rule is the Fieldbus Memory Management Unit mapping rule (i.e., the FMMU mapping rule), and it is pre-configured by the EtherCAT master station.

[0064] That is, within the frame processing unit, the PDO message is parsed, and the address is searched according to the mapping relationship of the FMMU to find the address space in the data part of the PDO message that is mapped to the physical address space of the current EtherCAT slave; and then it is identified whether there is a read instruction in the address space.

[0065] Furthermore, if there is no write instruction in the address space (i.e., the PDO message does not carry a write instruction), then it is further determined whether to forward the PDO message directly to the next EtherCAT slave. If there is a write instruction in the address space, the write instruction is responded to first, and after confirming that the execution of the write instruction has been completed, it is then determined whether to forward the PDO message directly to the next EtherCAT slave.

[0066] It should be noted that if the current EtherCAT slave is the first slave or an intermediate slave, then if it is determined that the PDO message does not carry a write instruction or that the write instruction has been executed, the PDO message will be forwarded directly to the next EtherCAT slave.

[0067] In some examples, if it is determined that the current EtherCAT slave is the last slave, since there is no next EtherCAT slave, then when it is determined that there is no write instruction in the PDO message or the execution of the write instruction is completed, it is determined that the PDO message will not be forwarded to the next EtherCAT slave, and the existence of a read instruction in the PDO message is determined by the preset address mapping rules.

[0068] It is understandable that when the current EtherCAT slave is the last slave, after receiving the PDO message, the frame processing unit can simultaneously determine whether the PDO message carries both write and read commands; alternatively, it can first determine whether the PDO message carries a write command and then determine whether it carries a read command. If it is determined that the PDO message carries both write and read commands, the write and read commands can be responded to simultaneously.

[0069] Furthermore, if the current EtherCAT slave is the last slave, the PDO message will start to return according to the sending path after being processed by the frame processing unit. That is, after the last slave completes the corresponding instruction response operation, the PDO message will be returned from the last slave to the previous EtherCAT slave one by one until the PDO message is returned to the EtherCAT master.

[0070] During the return process of the PDO message, each EtherCAT slave station receives the PDO message and sends it to the frame processing unit. The frame processing unit then parses the PDO message and performs addressing based on the mapping relationship of the FMMU to find the address space in the data part of the PDO message that is mapped to the physical address space of the current EtherCAT slave station; and then identifies whether there is a read instruction in the address space.

[0071] Furthermore, when a read command is detected, the system responds to the read command operation to write the target data read from the current EtherCAT slave to the target location in the PDO message before forwarding it to the EtherCAT master or the previous EtherCAT slave. The target location is the address space in the PDO message that is mapped to the physical address space of the current EtherCAT slave through the corresponding preset address mapping rules.

[0072] In other words, the target data read is stored in the address space corresponding to the original read instruction in the PDO message. When the PDO message after writing the data is returned to the EtherCAT master, since there is a mapping relationship between this address space and the EtherCAT slave that wrote the target data, the EtherCAT master can read the target data stored in the corresponding address space according to the mapping relationship after receiving the PDO message.

[0073] It is worth noting that in each EtherCAT slave, the PDO message will go through two processing paths: the first is the sending path through the internal frame processing unit, and the second is the return path through the frame processing unit again.

[0074] When a PDO message passes through the frame processing unit for the first time, the slave station determines whether a write command exists in the PDO message according to the preset address mapping rules. If so, it responds to the write command and writes the target data into the PDO message, while simultaneously incrementing the working counter value (i.e., WKC) in the PDO message by one. When the PDO message passes through the frame processing unit for the second time, the slave station determines whether a read command exists. If so, it responds to the read command, writes the collected target data into the target location in the PDO message, and increments the working counter value by one again.

[0075] If a slave station performs only one of the operations, either a write or a read, the WKC increments by one; if both the write and read instructions are executed (i.e., responded to once in each of the two passes), the WKC increments by two.

[0076] Therefore, this application achieves standardized incremental behavior of WKC through a unified two-stage processing logic, thereby improving the consistency and real-time performance of PDO message processing.

[0077] Furthermore, the initial value of WKC is configured by the EtherCAT master station, and its specific value can be set according to actual needs, which is not limited here. For example, the initial value can be set to 0. In this application, the WKC change is used to indicate whether there is an actual response operation in the message.

[0078] It is understandable that after the EtherCAT master sends a PDO message, when it passes through the first slave station, the frame processing unit inside that slave station determines whether there is a write instruction inside the PDO message according to the FMMU mapping rules. If there is no write instruction, the PDO message is forwarded directly without counting WKC. Then, the PDO message passes through the remaining slave stations in the topology. When it reaches the last slave station, the PDO message is processed by the frame processing unit and returns along the same path. The frame processing unit responds to the read instruction carried in the PDO message, collects the corresponding data according to the FMMU mapping rules, and writes it into the PDO message. Then, the PDO message with the written data passes through each slave station in turn and finally returns to the EtherCAT master station. In this process, the first slave station collects data at time t1, and the data arrives at the EtherCAT master station at time t1+t2. Therefore, the time difference between the EtherCAT master station receiving the same data and the EtherCAT slave station collecting the same data is only t2, which greatly improves the real-time effectiveness of data acquisition.

[0079] In this embodiment, the PDO message sent by the EtherCAT master station passes through the same intermediate EtherCAT slave station twice via the frame processing unit. When the PDO message passes through the slave station for the first time, the frame processing unit neither responds to the read command nor counts the WKC (Warranty Key Count). Instead, it responds to the read command and counts the WKC on the second pass. That is, this embodiment ensures that each EtherCAT slave station only responds to the read command carried in the PDO message during the PDO message return process to collect its internal data, thereby guaranteeing the real-time performance and validity of data collected by each EtherCAT slave station, such as sensitive data.

[0080] Please refer to Figure 6. This application embodiment also provides an industrial Ethernet communication system, which, exemplary, includes an industrial master station 100 and multiple industrial slave stations 200 (as shown in the figure, industrial slave station 1, industrial slave station 2, ..., industrial slave station n).

[0081] The industrial master station 100 is used to execute the industrial Ethernet communication method provided in any of the above embodiments, so as to send PDO messages to each industrial slave station 200 in sequence through the industrial Ethernet bus, so that each industrial slave station 200 executes the industrial Ethernet communication method provided in any of the above embodiments.

[0082] It is understood that the industrial Ethernet communication system of this embodiment corresponds to the industrial Ethernet communication method of the above embodiment, and the options in the above embodiment are also applicable to this embodiment, so they will not be described again here.

[0083] This application also provides a network device, exemplary of which includes a processor and a memory, wherein the memory stores a computer program, and the processor executes the computer program to enable the network device to perform the functions of the various modules in the above-described industrial Ethernet communication method or industrial Ethernet communication system. In one embodiment, the network device includes, but is not limited to, a gateway, switch, router, etc., that support the industrial Ethernet protocol.

[0084] The processor can be an integrated circuit chip with signal processing capabilities. The processor can be a general-purpose processor, including at least one of a Central Processing Unit (CPU), Graphics Processing Unit (GPU), Network Processor (NP), Digital Signal Processor (DSP), Application-Specific Integrated Circuit (ASIC), Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The general-purpose processor can be a microprocessor or any conventional processor, capable of implementing or executing the methods, steps, and logic block diagrams disclosed in the embodiments of this application.

[0085] The memory can be, but is not limited to, Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), etc. The memory is used to store computer programs, and the processor can execute the computer programs accordingly after receiving execution instructions.

[0086] This application also provides a computer-readable storage medium for storing the computer program used in the aforementioned network device. For example, the computer-readable storage medium may include, but is not limited to, various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0087] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that, in alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0088] In addition, the functional modules or units in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0089] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a smartphone, personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application.

[0090] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. An industrial Ethernet communication method, wherein, The industrial Ethernet communication method is applied to an industrial slave station and comprises the following steps: receiving a PDO message sent by an industrial master station or a previous industrial slave station, and determining whether to directly forward the PDO message to a next industrial slave station when the PDO message passes through an internal frame processing unit; when the frame processing unit receives the PDO message returned by the next industrial slave station or determines that the PDO message is not to be forwarded to the next industrial slave station, determining whether there is a read instruction in the PDO message according to a preset address mapping rule, and writing target data read in response to the read instruction into a target position in the PDO message, and then forwarding the PDO message with the written data to the industrial master station or the previous industrial slave station.

2. The industrial Ethernet communication method according to claim 1, wherein The process of determining whether to directly forward the PDO message to the next industrial slave station when the PDO message passes through the internal frame processing unit further comprises the following steps: when the frame processing unit first receives the PDO message, determining whether there is a write instruction in the PDO message according to the preset address mapping rule; if not, determining whether to directly forward the PDO message to the next industrial slave station; if yes, responding to the write instruction and determining whether to directly forward the PDO message to the next industrial slave station after determining that the execution of the write instruction is completed.

3. The industrial Ethernet communication method according to claim 2, wherein, The industrial Ethernet communication method further comprises the following steps: when the PDO message passes through the internal frame processing unit for the second time, the industrial slave station determines whether there is a read instruction in the PDO message according to the preset address mapping rule, and responds to the read instruction if there is.

4. The industrial Ethernet communication method according to claim 3, wherein when the PDO message passes through the internal frame processing unit for the first time, the industrial slave station determines whether there is a write instruction in the PDO message according to the preset address mapping rule; if there is a write instruction, responding to the write instruction and making the work counter value in the PDO message increase by one; when the PDO message passes through the internal frame processing unit for the second time, the industrial slave station determines whether there is a read instruction in the PDO message according to the preset address mapping rule; if there is a read instruction, responding to the read instruction and making the work counter value in the PDO message increase by one.

5. The industrial Ethernet communication method according to claim 1, wherein, The process of determining whether there is a read instruction in the PDO message according to the preset address mapping rule comprises the following steps: analyzing the PDO message, and searching for an address space in the data part of the PDO message that is in a mapping relationship with the physical address space of the current industrial slave station according to the field bus memory management unit mapping rule; identifying whether there is a read instruction in the address space.

6. The industrial Ethernet communication method according to claim 1, wherein The target position is an address space in the PDO message that is in a mapping relationship with the physical address space of the current industrial slave station according to the preset address mapping rule.

7. An industrial Ethernet communication method, wherein, The industrial Ethernet communication method is applied to an industrial master station and comprises the following steps: configuring a preset address mapping rule; The PDO message is sent out, wherein the PDO message passes through each industrial slave station in turn, so that each industrial slave station writes the read target data into the PDO message when it is determined by the preset address mapping rule that there is a read instruction in the PDO message during the return process of the PDO message. The PDO message returned by each industrial slave station is received.

8. An industrial Ethernet communication system, wherein, The industrial Ethernet communication system comprises an industrial master station and a plurality of industrial slave stations. The industrial master station is configured to execute the industrial Ethernet communication method in claim 7 to send out a PDO message through an industrial Ethernet bus, wherein the PDO message passes through each industrial slave station in turn, so that each industrial slave station executes the industrial Ethernet communication method in any one of claims 1-6.

9. A network device, wherein, The network device comprises a memory and a processor, the memory stores a computer program, and the processor is configured to execute the computer program to implement the industrial Ethernet communication method in any one of claims 1-7.

10. A computer storage medium, wherein, The computer program is executed to implement the industrial Ethernet communication method in any one of claims 1-7.

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