CN103168449B - The method that address of theenduser is distributed to the bus user of control system based on bus - Google Patents
The method that address of theenduser is distributed to the bus user of control system based on bus Download PDFInfo
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- CN103168449B CN103168449B CN201180050314.7A CN201180050314A CN103168449B CN 103168449 B CN103168449 B CN 103168449B CN 201180050314 A CN201180050314 A CN 201180050314A CN 103168449 B CN103168449 B CN 103168449B
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Abstract
A kind of control system based on bus, comprises multiple bus user (14,16,18,20), and described bus user is connected to each other via telecommunication media (26).Described bus user is assigned logical user addresses (48).Verify allocated address of theenduser (48) subsequently.For this purpose, bus user (14,16,18,20) calculates the first common check value (IV by means of the mathematical operation (78 86) limitedn+1), described first check value and the second check value (CV) make comparisons (90).Described mathematical operation starts with the initial value (68) limited, and comprises multiple calculation step (78,82), and described calculation step uses the operand of multiple restrictions.Each in address of theenduser (48) to be verified forms different operands, and each bus user (14,16,18,20) performs at least one calculation step.
Description
Technical field
The present invention relates to a kind of that address of theenduser is distributed to control system based on bus, particularly use
In the method for bus user of the control system of Automated condtrol technical process, described method has following
Step:
-provide multiple bus user, described bus user to be connected to each other via telecommunication media,
-logical user addresses is distributed to bus user, and
The logical user addresses that-verification is allocated.
The invention still further relates to a kind of control system based on bus for Automated condtrol technical process,
Described control system has multiple bus user, and described bus user is connected to each other via telecommunication media,
Wherein logical user addresses is assigned to bus user, and has station, and described station is configured to, verification
Allocated logical user addresses.
Background technology
This method and this control system are known from DE19934514C1.
Bus system is a kind of communication network in the sense of the present invention, the special structure of described communication network
Build as realizing in multiple so-called bus users and data between a central station if desired
Communication.Typically, bus system is used in the sense of the present invention, in order to realize the most mutual
Away from the data communication of the particularly circulation controlled between equipment and input-output equipment.Input defeated
Go out equipment and there is input and/or outfan, receive remote sensing via described input and/or outfan
The signal of device, or encourage long-range executor.Control equipment processes the signal corresponding to sensor
Inputting data and produce output data, input-output equipment produces from described output data and is used for
The output signal of executor.By using bus system can expend with restricted wiring with one
Individual or multiple control equipment spatially away from mode multiple sensor and executor are set.
There is the bus system researched and developed for difference needs of multiple modification.In many cases,
Bus user needs each single address of theenduser, therefore via the information energy of telecommunication media transmission
Enough it is associated with desired recipient, and the most to a certain extent, in order to understand the corresponding of information
Sender.Before bus system brings into operation, the distribution of address of theenduser is generally at configuration mode
In carry out.
Different method for distributing user address is known.A kind of probability is, each
Bus user is provided with address selection switch, wherein uses in bus by means of corresponding address selection switch
Family is from being in the corresponding address of theenduser of regulation.This method has the disadvantages that dividing of address of theenduser
It is feasible for joining only position at corresponding bus user.Central authorities' configuration of bus system is can not
Row.
Therefore there is substantial amounts of method, by described method can by address from central station via bus
System itself distributes to the bus user of bus system.This method is such as at DE19733906
Described in A1.Here, address distribution is based on the bus user different distance away from so-called main website,
And based on consequent different message transfer time, wherein said main website distributing user ground
Location.By described method, single address of theenduser is sequentially dispensed to multiple bus users.?
The method known certainly be not suitable in following bus system distribute address, described bus system according to
European standard EN954-1, IEC/EN61508 or EN ISO13849-1 and be applied to transmission peace
The data that full weight is wanted.Described standard limits machine and the machine that people operationally can manifest danger
The design of device equipment and realize the requirement of aspect.When such as making from urgent via bus system
The enable signal of dynamic button or safe grating is transferred to controller or transmission is cut for electrically driven (operated)
During break signal, it is necessary to ensure that, corresponding information is derived from the sender of reality, and also arrives at reality
Recipient.Such as when at interruption safe grating, machine is cut off and then the machine of danger mistakenly
When continuing to run with, the address distribution of mistake can result in fatal consequence.
For should be for controlling and the process of security-critical in the sense that the standard being previously mentioned before
Bus system for, address distribution must be fail-safe.Here, " failure safe " under
It is meant that at least meet the requirement of the 3rd class of European standard EN954-1 and/or meet root in literary composition
The requirement of SIL2 or similar requirement according to IEC/EN61508.Therefore, distribute address time
Possible mistake should not result in: controlled device enters and shows danger for operator or other people
The state of danger.
The DE19934514C1 being initially mentioned is open a kind of for address of theenduser is distributed to control
The method of the bus user of system, wherein each bus user has due to the structure of bus system
The physical location that univocality limits.Each bus user verifies allocated according to the physical location of its univocality
Logical address.Described method is particularly suitable for address of theenduser is distributed to so-called contact bus
(interbus) bus user, described contact bus is widely used for Automated condtrol and produces ring
Technical process in border.But, according to actual physical location, allocated address of theenduser is carried out
Verification uses the special character of contact bus, and then in the case of there is no described special character
Can not be transferred in other bus system.
DE19940874A1 discloses a kind of control system configuration bus for guiding for safety and uses
The another kind of method at family, wherein address of theenduser is assigned to bus user.In this case, not yet
The bus user of configuration utilizes general address that predefined, univocality determines to be registered in central station
In, described central station is identical to be connected in bus system.Address of theenduser is distributed to Xindeng by central station
The bus user of note, described address of theenduser is by the follow-up data between bus user and described station
Communication verifies.Here, central station monitoring: the most only configuration just what a bus user.Described
Method is particularly suitable for configuring each bus user, and described bus user replaces as replacement equipment
The bus user of the fault in bus system being configured.But, bigger when to assign address to
During the bus user measured, described method is fairly time consuming.
Summary of the invention
For above-mentioned background, the purpose of the present invention is to propose to a kind of for by address of theenduser failure safe ground
The method distributing to the alternative of the bus user of bus system.Especially, a purpose is to propose one
The method of alternative, described method realizes carrying out failure safe when initial configuration for multiple bus users
Verification.
According to an aspect of the present invention, described purpose is realized by the method starting described type,
Wherein bus user calculates the first common check value, described check value by means of the mathematical operation limited
Making comparisons with the second check value, in order to the logical user addresses that verification is allocated, wherein said mathematics is transported
Calculating and start and comprise multiple operating procedure with the initial value limited, described operating procedure uses multiple limits
Fixed operand, each in address of theenduser the most to be verified forms different operands, and
The most each bus user performs at least one operating procedure.
According to another aspect of the present invention, described purpose is come by the control system starting described type
Realizing, wherein bus user is configured to, and calculates the first common school by means of the mathematical operation limited
Testing value, described first check value compares with the second check value in station, in order to allocated the patrolling of verification
Collecting address of theenduser, wherein mathematical operation starts with the initial value limited and comprises multiple operating procedure,
Described operating procedure uses the operand of multiple restrictions, each in address of theenduser the most to be verified
Form different operands, and the most each bus user is configured to, perform at least one operation step
Suddenly.
Preferably, station is the control unit of control system, and bus user is input-output unit,
Described input-output unit exchanges data, the input signal of described data representative sensor with control unit
With the output signal for executor.
New method and new control system use the mathematical algorithm limited, by means of described algorithm many
Individual calculation step the most successively calculates the first check value.First check value is with all to be verified
Address of theenduser is correlated with and by being assigned the whole of address of theenduser to be verified in single sub-step
Bus user calculates jointly.Preferably, each bus user " understands " mathematical operation the most exactly
The calculation step performed during the calculation step that bus user must spatially be distributed is (or multiple
Calculation step).In other words, if bus user (except verification address of theenduser station in addition to) no
Understand entirety for the calculation step verified and/or operand, then this is preferred.Therefore in these feelings
Under condition, all bus user needs to verify forcibly.
It is furthermore preferred that the first check value is the number produced to univocality from allocated address of theenduser
Value, say, that each combination that the result of mathematical operation is address of theenduser provides just what a is independent
Check value.
New method and new control system realize rapidly and reliably inspection address distribution.Can be
One checking procedure is checked the address of theenduser of arbitrarily large number.Therefore, new method and new total linear system
Unite during a configuration, realize the configuration of multiple bus user.Additionally, new method and new control
On system used leaves much room processed, the physical arrangement with bus system is unrelated.New method is particular enable in bus
Using in system, wherein each bus user actual physical location on telecommunication media is unknown
Or can not determine to univocality.Additionally, new method can by address of theenduser with arbitrary order
And/or structure distributes to use in the case of each bus user, to such an extent as to occur without about to be allocated
The significant restriction of address.
On the other hand, new method and new control system provide following advantage: i.e. address of theenduser can
Via bus system itself with the distribution of fail-safe ways and means and verification.Therefore it is fully achieved
The purpose being previously mentioned in literary composition.
In a preferred design of the present invention, each bus user performs one (at least)
Calculation step, the address of theenduser distributing to bus user in described calculation step forms operand.
In described design, each bus user calculates " its " computing step by " its " address of theenduser
Suddenly.As an alternative, it is possible that bus user is respectively by " outer in other design of the present invention
Come (fremd) " address of theenduser perform distribution calculation step, say, that each bus user
Calculation step is calculated by the address of theenduser distributing to another bus user.But, in preferably design
In scheme, verification can be simpler and be more quickly performed, because each bus user has been understood point
Its address of theenduser of dispensing.In both flexible programs, the quantity of calculation step is at least used with bus
The quantity at family is identical.
In another design, from central station, address of theenduser is distributed to bus user, wherein center
Stand by identical mathematical operation, identical initial value and identical operand with bus user independently
Calculate the second check value.
In described design, the whole users ground being assigned to each bus user understood by central station
Location.Therefore, described central station can be easily performed control calculating.By compare the first check value and
The concordance of the second check value, by means of identical mathematical operation, identical initial value and identical behaviour
Calculating the second check value of counting realizes extremely simple verification.If the two value deviation each other, then
Verify unsuccessfully, and preferably repeat address distribution.Described design by independently of one another but
By identical mathematical operation, identical initial value and identical operand calculating the two check value
Extremely reliable inspection is provided.
In another design, central station is connected with bus user via telecommunication media, and institute
State central station and obtain the first common check value via telecommunication media.
In a preferred variations of described design, central station is so-called bus master,
It is to say, have the bus user of special authority and/or ability compared with other bus user.
Typically, bus master is such as by initializing communication cycles, providing the number for each bus user
According to data field and/or time neutral and/or otherwise guarantee arbitration, and via telecommunication media control
System and/or the communication of tissue bus user.Described design has an advantage that in bus system certainly
It is feasible for carrying out address distribution with it.Additionally, the function implementing central station in bus master is
Favourable, because bus master is the most disposably present in bus system, and and other
Bus user compare, the commonly provided higher intelligence and/or computing capability.Therefore, central station
Function can at a fairly low cost and being effectively contained in bus master.
In another design, central station is configured to be fail-safe.
As pointed by the most hereinbefore, " failure safe " is it is meant that meet according to EN954-1
The 3rd class or at least one single fault safety of similar requirement.Even if breaking down, the most should not
When the safety losing system.Typically, central station is multi-channel redundant in described design,
To realize single fault safety.But can also be single pass implementation, described single pass reality
Existing scheme meets above-mentioned requirements.Additionally, in particular it is preferred that (other) it is assigned address of theenduser
Bus user be configured to be non-fail-safe, because of according to described design new method also
Realize distributing user address, failure safe ground in this case.When central station act as in bus system
During bus master, described design is particularly advantageous, because the most only needing intelligence, fault
The station of safety, and other bus user can realize relatively easy and cheaply.
In another design, bus user connects via telecommunication media with logical order, wherein patrols
Collect order and there is the first bus user, at least one second bus user and last bus user.
In some preferred embodiments, the logical order of bus user is corresponding in predefined data
The order of the data in frame, described Frame is forwarded by bus user according to the mode of barrel chain, in order to real
The communication each other of existing bus user and/or the communication with bus master.In especially preferred embodiment
In, bus master produces described Frame with time interval that limit, that repeat.Frame successively by
Bus user forwards, until described Frame finally arrives again at bus master.
In described design, bus system is particularly suitable for collecting input data, described input number
According to representing the sensor signal of multiple sensor, and it is suitable for exporting control command the control of distribution
On the executor of system processed.The logical order of bus user realize the circulation time that determines and simple and
The implementation of low cost.Additionally, described bus system is extremely well suitable for automatically distributing
Address of theenduser, is wherein advantageously able to use for the new method verifying allocated address.At this
In the case of it is particularly advantageous that mathematical operation is unsatisfactory for associative law because the most not only verification is allocated
Address of theenduser, but also the order of check bus user, this is as illustrated below according to an embodiment.
In another design, the first bus user performs the first calculation step, described first computing
Step uses initial value and first operand, in order to determine the first intermediate value, wherein the first bus user
First intermediate value is sent to the second bus user, and wherein the second bus user performs the second computing
Step, uses the first intermediate value and second operand in described second calculation step, in order to determine
Two intermediate values.Preferably, last bus user performs final calculation step, wherein uses in the middle of second
Value and final operand.
In described design, bus user is to be connected to each other described bus user via telecommunication media
Logical order calculate the first check value.Due to allocated address of theenduser, logical order can be different
In physical arrangement, in described physical arrangement, bus user is connected on telecommunication media.But, logic
Order also is able to identical with physical arrangement.This design realizes the extremely simple of new method and low one-tenth
This implementation, and the realization of described design is with verifying allocated user the most rapidly
Location, because being directly sent to follow-up bus user respectively to recycle by intermediate value.
In another design, last bus user calculates common first by final calculation step
Check value.Alternative is in this, it is possible that last bus user is by finally in another design
Calculation step determines another intermediate value, calculates in other calculation step by another intermediate value described
First check value.
The design mentioned at first has an advantage that after a small amount of calculation step and carries rapidly
For the first check value.Correspondingly, the verification of address of theenduser can be quickly carried out.In contrast,
After the design mentioned there is following advantages: the first check value can comprise other checking procedure and
/ or calculation procedure.On the one hand, this advantageously could be used for check bus system with each bus user
Other unrelated configuration data.On the other hand, the first check value is advantageously able to simplify and second
The mode that check value compares is adjusted and/or is changed.
In another design, perform calculation step with the calculation step order limited, wherein first
Check value changes according to the calculation step sequence limited.
In described design, even if initial value is the most identical with operand, mathematical operation according to
The order of the calculation step being performed and different results is provided.Preferably select and be both unsatisfactory for associative law also
It is unsatisfactory for the mathematical operation of commutative law.Described design has in advantage more described above:
Not only verify allocated address of theenduser, and the order of check bus user itself.Use when using
In time transmitting the bus system of data of safety-critical, this is especially advantageous, because being on the one hand difficult to
Understand the exchange of the user of two same types, but another aspect can easily occur and can
Cause serious consequence.
In another design, mathematical operation is verification and calculates, and is based particularly on polynomial division
CRC-inspection and calculate.In especially preferred embodiment, mathematical operation is CRC-8, CRC-16
Or CRC-32 verifies and calculates.
Abbreviation CRC represents CRC (Cyclical Redundancy Check).Described
CRC is the method for the restriction of the check value for calculating data at this.Generally, calculate
CRC check and, so as to understand data transmission and data store time mistake.In general, meter
The CRC-calculated verifies and transmits together with protected data at this or store.In present design
The algorithm that middle use is identical, in order to after successful data are transmitted, say, that divide at address of theenduser
After joining, calculate in single verification step verification and, described verification and verifiably location is divided
The success joined.CRC algorithm is used to realize the most cheap and fail-safe implementation.According to quilt
The quantity of address of theenduser of distribution and length advantageously, use shorter or longer verification and
(CRC-8, CRC-16 or CRC-32 etc.).
In another preferred design, control system enters after successfully verification and runs, its
In repeatedly calculate the first check value when control system is run.Preferably, when control system is run
Calculate the first check value at defined time intervals.It is also advantageous that, master control is in order to repeatedly calculate
First check value and change initial value.Described design realizes when bus system is run configuration
Bus user carries out simple and quick verification, to such an extent as to can be understood quickly such as due to storage mistake
By mistake, the change changing or causing due to the change of bus user that cable pinching causes.Described design
Scheme contributes to improving the most further failure safe.
In another design, operand also represents the specific characteristic of equipment of bus user, such as
Serial number, device type and/or the firmware level of corresponding bus user.
By described design, the most not only monitor allocated address of theenduser, and
The also single characteristic of controlling bus user.Therefore, described design contributes to improving further event
Barrier safety.
In another design, calculate the first check value, the plurality of bus for multiple bus users
User is fewer of more than the quantity of the bus user connected via telecommunication media.
In described design, deliberately calculate the first check value by multiple bus users, described
The quantity of bus user is different from the quantity of whole address of theenduser to be verified.In preferred embodiment
In, it is possible to it is individually chosen the quantity of bus user to be verified.Preferably, all being divided is being verified
The bus user after the address joined reduced quantity verifies.It is also advantageous that, it is possible to individually
Ground selects bus user to be verified.Described design realizes motivated for following situation
And diagnose easily, in the described situation beyond the allocated address of theenduser of bus user quantity
Verify unsuccessfully.Because the first check value is calculated jointly by the bus user that all of address is verified, institute
The most only provide whether the distribution about address of theenduser is the most error-free with new method
The overall statement of effect by mistake.But, carry out by the check value calculated on all of subscriber bus
Individually error analysis is difficult.But, reduce bus user to be verified by motivated
Quantity be capable of identify that error source.In addition by carrying out verifying energy to the most unassigned address of theenduser
Enough tests: the most still have other the bus user without understanding to be connected on telecommunication media.Therefore,
Described preferred design simplifies individually diagnosis.
Obviously, mentioned above and subsequently wait illustrate feature without departing from the scope of the present invention
In the case of, can not only apply in each combination proposed, it is also possible to apply other
In combination or be used alone.
Accompanying drawing explanation
Embodiments of the invention shown in the drawings, and elaborate this in the description that follows
Bright embodiment.It illustrates:
Fig. 1 illustrates the schematic diagram of the embodiment of new control system；
Fig. 2 illustrates the flow chart for the preferred embodiment illustrating new method；And
Fig. 3 illustrates that the control system in Fig. 1, two of which bus user are exchanged.
Detailed description of the invention
In FIG, control system represents by reference 10 on the whole, holds in described control system
The method that row is new.Control system 10 comprises control unit 12 and multiple input-output unit 14,16,
18,20.Control unit 12 have in this case integrated or that insert, there is EBI 24
Bus module 22.Bus line 26a is connected on EBI 24, and described bus line guides
The first EBI 24 to input-output unit 14.Input-output unit 14 has the second bus
Interface, another bus line 26b guides to input-output unit 16 from described second EBI
First EBI.Another bus line 26c guides from another EBI of input-output unit 16
The first EBI to input-output unit 18.Another bus line 26d is from input-output unit
Another EBI of 18 guides the first EBI to input-output unit 20.Therefore, input
Output unit 14 to 20 is connected on the bus module 22 of control unit 12 with a graded.Have
The control unit 12 of bus module 22, input-output unit 14 to 20 and bus line 26a to 26d
Being collectively forming bus system, described bus system is a part for control system 10, and described bus
System realizes the communication between control unit 12 and input-output unit.Here, in meaning of the present invention
On, input-output unit 14 to 20 is bus user.There is the control unit 12 of bus module 22
Have the function of bus master at this, distribution and the verification of address of theenduser also come via described bus master
Start.
Bus user order described here in bus master is arranged corresponding to preferred embodiment.
But the present invention be not only restricted to this and can in the same manner have other topologys, such as annular opens up
Flutter, the bus system of Star topology or tree topology uses.In principle, it is also possible to the most total
New method and new bus system is realized in the case of line master control, the most therefore can at bus user
The bus system sent at any time and/or receive realizes.
Each input-output unit 14 to 20 have multiple connection socket for connect sensor and/or
Executor.Illustratively, on input-output unit 20, connection socket represents with reference 28.
On two connection sockets of input-output unit 18, illustratively connect at this and have two protectors
30a、30b.Protector 30a, 30b are carried out device, and bus system 10 produces by described executor
Control signal is to control technical process.Each protector 30a, 30b have multiple Guan Bi contact site.
The Guan Bi contact site of each protector 30a, 30b respectively power supply 32 and equipment 34 to be controlled it
Between be disposed in series.Illustratively, it is robot at this equipment 34.By means of protector 30a, 30b,
Robot 34 can separate with power supply 32.
Representing emergency stop push button by reference 36, described emergency stop push button is via cable pair
38 are connected on another connection socket of input-output unit 18.Input-output unit 18 is to urgent
The clock signal 40 of the clock cycle with restriction is produced on the lead-out wire of stop button 36.Clock is believed
Numbers 40 via emergency stop push button 36 and cable to 38 the line that leads back return to input-output unit 18.
Emergency stop push button 36 is a preferred embodiment for signaling device or sensor, described
Signaling device or sensor provide input signal, and described input signal is assessed by control unit 12.
Control unit 12 produces for protector 30a, the control signal of 30b according to input signal.
Protector 30a, 30b and emergency stop push button 36 are carried out the example of device and sensor at this.
Other preferred sensor is safe grating, protective door switch, both hands switch or is also to measure such as temperature
The sensor of the variablees such as degree, pressure, position, speed.Additionally, electromagnetic valve, electric drive etc. can
It is connected on input-output unit 14 to 20 as executor.
In FIG, in order to simplicity is shown merely for protecting the control system 10 of robot 34, so
And be shown without controlling the control system that the work of robot 34 runs.In principle, the two controls system
System can be the same, say, that control system 10 not only controls running and also controls security-critical
Control function.But in many cases, security function is used individually control up to now
System, because being significantly higher than in terms of security function the demand of the faults itself safety of control system
Demand for security in terms of the control of running.On the other hand, the control of running usually needs ratio
The higher operational capability of control of security function.
In order to control security function, control unit 12 is typically configured to be multi-channel redundant, this
Symbolically illustrating by two microprocessors 42a, 42b in Fig. 1, described microprocessor is supervised each other
Control and/or exchange its result.Also be able to use other programmable logic circuit, as microcontroller,
FPGA, ASIC etc. replace microprocessor.In some preferred embodiments, programmable circuit
42a, 42b perform the calculating of the redundancy of (second) check value, by means of described check value according to new
Address of theenduser is distributed to input-output unit 14 to 20 by the verification of method failure safe ground.
44 and receive from input are sent datagram via bus module 22 by described control unit
The response message 46 of output unit 14 to 20, control unit 12 and input-output unit 14 to 20
Communication.In a preferred embodiment, the exchange between data message and response message is according to such as existing
Method described in DE102008060007A1 is carried out.Correspondingly, described list of references exists
This is expressly incorporated herein by reference about the details of data transmission.But, for verifying the new of address of theenduser
Method be not restricted to preferred data transmission method and also being able to and apply and using address of theenduser
In other bus protocol.
In current situations, input-output unit 14 to 20 obtains individually from control unit 12 respectively
Address of theenduser 48.Such as, at this, address of theenduser 0x0F is distributed to input-output unit 14, will
Address of theenduser 0x0E distributes to input-output unit 16, distributes to input defeated by address of theenduser 0x0D
Go out unit 18, and address of theenduser 0x0C is distributed to input-output unit 20.Preferably implementing
In example, send datagram 44 by control unit 12 via EBI 24, in control system 10
In configuration mode, carry out the distribution of address before startup, described data message comprises user respectively
Address 48.Each it is assigned the input-output unit of address of theenduser by described data message in turn
It is transmitted to next input-output unit.The input-output unit extraction not yet distributing address is included in described
Address in data message is used as the address being allocated.Therefore, input-output unit 14 to 20 energy
Enough in turn " named " by control unit 12.Subsequently, control unit 12 verification is according to being such as then act through
The method that picture 2 illustrates verifies allocated address of theenduser.
Here, reference 50 represents the concrete use representing each bus user 14,16,18,20
User data.Such as, user data be single serial number, equipment type number (),
Firmware grade etc..In the embodiment illustrated, bus user 14,16 and 20 has equipment type
Number 0x01, and bus user 18 has equipment type number 0x02.
According to Fig. 2, first counting variable n=0 is set.According to step 62, bus master
Control, the most i.e. the first bus user distributed to by address of theenduser by control unit 12 subsequently, described
First bus user is typically expressed as S in fig. 2n+1.For the control system 10 according to Fig. 1,
First bus user is input-output unit 14, and described input-output unit obtains from control unit 12
Address of theenduser 0x0F.Inquire in step 64: whether other is distributed in other address
Bus user.If it is the case, described method returns to step 62, wherein according to circulation 66
Described counting variable n increases by 1.
The most allocated if all of address of theenduser, then to be produced according to step 68 by bus master
Initial value and proceed by preferably checking.In a preferred embodiment, initial value comes from following number
Numerical value in value scope: allocated address of theenduser is also derived from described numerical range.Such as, at this
Assume that initial value is 0x7A.
In addition, it is assumed for example that: master control uses has generator polynomial x8+x5+x4+x1CRC-8 school
Test and calculate as mathematical operation.Therefore, master control via data (address of theenduser) 0x0F, 0x0E,
0x0D and 0x0C calculates the CRC-8 with initial value 0x7A.Result is check value CV=0xF7.
The detailed description of CRC-8 checksum algorithm can be obtained in relevant technical literature and such as
The following address of wikipedia obtains:http://en.wikidedia.org/wiki/Cyclic_redundancy_check.Pointed wikipedia literary composition
Chapter is expressly incorporated herein by reference in the state submitting day to it at this.
In step 72., master control arranges value n of the quantity specifying address of theenduser to be verifiedmax.Pass through
Selecting a value less than the quantity of the bus user being all connected in bus system 10, master control can
Verification is limited to the bus user that quantity reduces.Assume initially that: master control arranges nmax=4, namely
Saying, described master control performs verification via all of input-output unit 14 to 20.
In next step 74, reset counting variable n=1.Subsequently, master control is according to step 76
Initial value 0x7A is sent to bus user S1, i.e. input-output unit 14.Used by described bus
Family S1By initial value 0x7a be himself address 0x0F calculate CRC-8 verification and, bus use
Family S1Calculate the first intermediate value IV1.Intermediate object program IV1It is 0x0D in this case.
According to step 80, bus user S1By the first intermediate value IV1It is sent to next bus user S2。
The intermediate value IV received is used by next bus user described1=0x0D is as initial value and makes
With himself address 0x0E as operand, next bus user described calculates another intermediate value IVn+1。
Second intermediate value IV2It is 0x53 in this case.
According to step 84, the second bus user is checked in its order being whether bus user to be verified
Last.But in current situations, still it is followed by two bus user (input and output lists
Unit 18 and 20) so that perform in the bus user 18 and 20 that the two is other according to circulation 86
Two other calculation step.In the example assumed, the 3rd bus user (input-output unit 18)
Obtain the second intermediate value IV2=0x53 is as initial value, and described 3rd bus user is by himself
Address of theenduser 0x0D calculate the 3rd intermediate value IV3=0x61.4th bus user (input and output list
Unit 20) receive intermediate value IV3=0x61 is as initial value and calculates another by its address of theenduser 0x0C
One intermediate value IV4=0xF7.Because not following other bus user in order, input defeated
Go out unit 20 by intermediate value IV4Bus master 12(step 88 is sent back) as the first check value.
Bus master or control unit 12 are checked according to step 90: the check value IV of reception4Whether
Equal to the check value CV calculated before.If the two check value deviation each other, then divide in address
Mistake is there is when joining and/or verify.Correspondingly, control unit 12 produces fault-signal according to step 92.
If the two check value is mutually the same on the contrary, then this is that the mark carried out error-free is distributed in address
Will.Control system 10 is currently capable of being transitioned into control and runs, and this shows by step 94.
In a preferred embodiment, repeat allocated at the time point limited during process control
Address verifies, and this shows with circulation 96.
In a variations of described embodiment, the most allocated address of theenduser comprises
In the verification, and the specific data of user 50 are also contained in verification.The present warp of control unit 12
By address of theenduser and type coding 0x0F, 0x01,0x0E, 0x01,0x0D, 0x02,0x0C,
0x01 calculates check value CV and obtains check value CV=0x62 as result.
It is now assumed that: subsequently exchange input-output unit 16 and 18, as this figure 3 illustrates.
Input-output unit 14 receives initial value 0x7A and now by self address 0x0F and equipment
Type 0x01 calculates the first intermediate value IV1=0x7D.(exchange) input-output unit 18 is existing
As the second bus user by initial value 0x7D, allocated address 0x0E and device type
0x02 calculates the second intermediate value IV2=0x74。
3rd input-output unit is by initial value 0x74, allocated address 0x0D and device type
0x01 calculates the 3rd intermediate value IV3=0xC9.4th input-output unit by initial value 0xC9,
Allocated address 0x0C and device type 0x01 calculate the 4th intermediate value 0xEC and by this knot
Fruit sends back bus master as (first) check value.The two check value CV=0x62 and
IV4=0xEC relatively points out: although address distribution itself is successful, but the configuration of reality is not
With desired configuration consistency.
As being previously mentioned by reference to Fig. 2 before, by described control unit the most only by checking procedure
Perform to the first input-output unit 14 and expand to each other input and output the most step by step
Unit, control unit 12 is capable of identify that the bus user of error configurations.The most described control unit arrives
The input-output unit 18 exchanged, then two check value deviations each other.Additionally, control unit 12
Can be the multiple bus user initiation verification processes more than the bus user quantity in nominal configuration,
And/or described control unit can report the most unassigned in checking procedure motivatedly
Address of theenduser, in order to inspection in like fashion: whether ratio is set for the bus user being connected on telecommunication media
The bus user put is many.This is especially advantageous, in order to inspection: according to nominal configuration from communication matchmaker
The bus user removed in Jie is the most also missing from.
In a variations of embodiment described before, new method uses CRC-16 school
Testing and calculate, the address of the most each bus user becomes the data value of 16 with types of cctrchs.Former
Then going up, other mathematical operation is also suitable for new method, performs described in the step of multiple orders
Mathematical operation, and then can be distributed on multiple bus user, and described mathematical operation is according to being made
Operand and order advantageously according to the calculation step of performed operation carry
Result for univocality.
Claims (18)
1. address of theenduser (48) is distributed to the bus user of control system (10) based on bus
The method of (14,16,18,20), has a following step:
-multiple bus user (14,16,18,20) is provided, described bus user is via communication
Medium (26) is connected to each other,
-logical user addresses (48) is distributed to described bus user (14,16,18,20),
And
-in central station (12), verify allocated described logical user addresses (48),
It is characterized in that, multiple described bus users (14,16,18,20) are by means of restriction
Mathematical operation (78-86) calculates the first common verification in multiple calculation step the most successively
Value (IVn+1), wherein said the first common check value (IVn+1) and all users to be verified
It is correlated with and by all bus being assigned address of theenduser to be verified in single sub-step in address
User calculates jointly, wherein said the first common check value (IVn+1) and in described central station (12)
Second check value (CV) of middle calculating is made comparisons (90), in order to the described logic that verification is allocated
Address of theenduser (48),
Wherein said mathematical operation starts with the initial value (68) limited, and comprises multiple computing
Step (78,82), described calculation step uses the operand of multiple restrictions,
Each in address of theenduser (48) the most to be verified forms different operands,
The most each bus user (14,16,18,20) performs at least one calculation step,
And the most each bus user (14,16,18,20) " understands " mathematics fortune the most exactly
Perform during the calculation step that the described bus user calculated must spatially be distributed is one or more
Calculation step.
Method the most according to claim 1, it is characterised in that described method will be for using
The control based on bus for Automated condtrol technical process (34) is distributed in address, family (48)
The bus user (14,16,18,20) of system.
Method the most according to claim 1, it is characterised in that each bus user (14,
16,18,20) perform a calculation step, in described calculation step, distribute to described bus
The described address of theenduser (48) of user forms described operand.
Method the most according to claim 1, it is characterised in that described address of theenduser (48)
From central station (12) is distributed to described bus user (14,16,18,20), is wherein said
Center station (12) by identical described mathematical operation, identical described initial value with identical described in
Operand and described bus user (14,16,18,20) independently calculate described second check value
(CV)。
Method the most according to claim 4, it is characterised in that described central station (12) warp
Connected with described bus user (14,16,18,20) by described telecommunication media (26), and
Described the first common check value (IV is obtained via described telecommunication media (26)n+1)。
Method the most according to claim 4, it is characterised in that described central station (12) structure
It is fail-safe for becoming.
Method the most according to claim 5, it is characterised in that described central station (12) structure
It is fail-safe for becoming.
8. according to the method one of claim 1 to 7 Suo Shu, it is characterised in that described bus is used
Family (14,16,18,20) connects via described telecommunication media (26) with logical order, wherein
Described logical order has the first bus user (14), at least one second bus user (16,
18) and last bus user (20).
Method the most according to claim 8, it is characterised in that described first bus user
(14) perform the first calculation step (78), described first calculation step use described initial value and
First operand, in order to determine the first intermediate value (IVn), wherein said first bus user (14)
By described first intermediate value (IVn) it is sent to described second bus user (16,18), and its
Described in the second bus user (16,18) perform the second calculation step (82), described second
Calculation step uses described first intermediate value and second operand, in order to determine the second intermediate value
(IVn+1)。
Method the most according to claim 9, it is characterised in that described last bus user
(20) described the first common check value (IV is calculated by final calculation stepn+1)。
11. methods according to claim 9, it is characterised in that described last bus user
Another intermediate value is determined, by another intermediate value described in other fortune by final calculation step
Calculate in step and calculate described first check value.
12. according to the method one of claim 1 to 7 Suo Shu, it is characterised in that with limit
Calculation step order performs described calculation step, and wherein said first check value is according to described restriction
Calculation step order changes.
13. according to the method one of claim 1 to 7 Suo Shu, it is characterised in that described mathematics
Computing is verification and calculates.
14. according to the method one of claim 1 to 7 Suo Shu, it is characterised in that described mathematics
Computing is CRC check and calculating.
15. according to the method one of claim 1 to 7 Suo Shu, it is characterised in that described control
System (10) enters operation (94) after unsuccessful verification, wherein in described control system (10)
Operation in repeatedly (96) calculate described first check value.
16. according to the method one of claim 1 to 7 Suo Shu, it is characterised in that described operation
Number also represents the specific characteristic of the equipment (50) of described bus user (14,16,18,20).
17. according to the method one of claim 1 to 7 Suo Shu, it is characterised in that for multiple always
Line user (14,16,18,20) calculates described first check value (IVn+1), the plurality of always
Line user fewer of more than connect via described telecommunication media (26) described bus user (14,
16,18,20) quantity.
18. control systems being used for Automated condtrol technical process, have multiple via telecommunication media
(26) bus user (14,16,18,20) being connected to each other, wherein said bus user (14,
16,18,20) logical user addresses (48) it is assigned；And there is central station (12), described
Station is configured to, the described logical user addresses (48) that verification is allocated,
It is characterized in that, multiple described bus users (14,16,18,20) are configured to, by
In multiple calculation step the most successively, the first common school is calculated in the mathematical operation limited
Test value (IVn+1), wherein said the first common check value (IVn+1) and all use to be verified
It is correlated with and by being assigned the whole total of address of theenduser to be verified in single sub-step in address, family
Line user calculate jointly, described the first common check value (IVn+1) in described central station (12)
In make comparisons with the second check value (CV) calculated in the described central station (12), in order to school
Testing allocated described logical user addresses (48), wherein said mathematical operation is initial with limit
Value (68) starts and comprises multiple calculation step (78-86), and described calculation step uses multiple
The operand limited, each in address of theenduser (48) the most to be verified forms different behaviour
Counting, the most each bus user (14,16,18,20) is configured to, and performs at least one fortune
Calculate step, and the most each bus user (14,16,18,20) " is understood " the most exactly
One performed during the calculation step that the described bus user of mathematical operation must spatially be distributed
Or multiple calculation step.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102010035771.5 | 2010-08-19 | ||
| DE102010035771A DE102010035771A1 (en) | 2010-08-19 | 2010-08-19 | Method for allocating subscriber addresses to bus subscribers of a bus-based control system |
| PCT/EP2011/063416 WO2012022619A1 (en) | 2010-08-19 | 2011-08-04 | Method for issuing subscriber addresses to bus subscribers of a bus-based control system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103168449A CN103168449A (en) | 2013-06-19 |
| CN103168449B true CN103168449B (en) | 2016-11-30 |
Family
ID=
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| CN101189593A (en) * | 2005-06-01 | 2008-05-28 | 罗伯特·博世有限公司 | Method for communication redundant data during address communication on multi-path multi-use address/data bus |
| CN101374094A (en) * | 2007-08-23 | 2009-02-25 | 西门子公司 | Data transmission method |
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| CN101167341A (en) * | 2005-04-27 | 2008-04-23 | 菲尼克斯电气公司 | Address assignment for safe users of a field bus |
| CN101189593A (en) * | 2005-06-01 | 2008-05-28 | 罗伯特·博世有限公司 | Method for communication redundant data during address communication on multi-path multi-use address/data bus |
| CN101374094A (en) * | 2007-08-23 | 2009-02-25 | 西门子公司 | Data transmission method |
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