CN111756659A - Multi-master station EtherCAT network implementation method and network system adopting same - Google Patents
Multi-master station EtherCAT network implementation method and network system adopting same Download PDFInfo
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- CN111756659A CN111756659A CN202010410548.9A CN202010410548A CN111756659A CN 111756659 A CN111756659 A CN 111756659A CN 202010410548 A CN202010410548 A CN 202010410548A CN 111756659 A CN111756659 A CN 111756659A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L49/00—Packet switching elements
- H04L49/35—Switches specially adapted for specific applications
- H04L49/351—Switches specially adapted for specific applications for local area network [LAN], e.g. Ethernet switches
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L47/00—Traffic control in data switching networks
- H04L47/10—Flow control; Congestion control
- H04L47/24—Traffic characterised by specific attributes, e.g. priority or QoS
- H04L47/2416—Real-time traffic
Abstract
The invention relates to a method for realizing an EtherCAT network with multiple master stations and a network system adopting the same, which are suitable for the network system with multiple EtherCAT master station devices, an Ethernet switch and slave station devices.A SDN controller is mounted on the Ethernet switch, and a VLAN channel in the Ethernet switch is divided into a real-time VLAN channel and a non-real-time VLAN channel by the SDN controller; the method comprises the steps of creating a real-time scheduling module in an SDN controller, wherein the real-time scheduling module is used for judging the priority of forwarded data, allocating VLAN channels adopted when the forwarded data are forwarded according to the priority, scheduling the forwarding sequence of the forwarded data in the VLAN channels in real time, transferring the management control function of an Ethernet switch to the SDN controller, and enabling the Ethernet switch to be only responsible for forwarding and transmitting the data, so that the separation of the data forwarding function and the management control function is realized, the responsibility of the switch in the prior art is effectively reduced, and the data forwarding time delay is reduced.
Description
Technical Field
The invention relates to a network implementation method and a network system adopting the network implementation method, in particular to a multi-master-station EtherCAT network implementation method and a network system adopting the network implementation method.
Background
EtherCTA is a real-time industrial Ethernet technique, in the network system based on bus type EtherCTA, make full use of the full duplex characteristic of Ethernet, use the master-slave medium access mode, send the Ethernet frame to each slave station by the master station, the slave station receives the data of the master station and inserts the data of itself into the Ethernet frame, then transmit the data to the next slave station, the last slave station transmits the data back to the master station through the transmission port of itself, realize the transmission and receiving of the data between master station and slave station.
The EtherCAT network can also improve the extensibility of the network through the switch, but the EtherCAT network has the defect of real-time performance, namely, one network segment needs one MAC address, and common ethernet equipment can also be connected into the network. However, compared with a bus type EtherCAT network, due to the reasons of data forwarding collision inside the switch and the like, the method can cause the problem of poor data transmission real-time performance when a large number of slave stations access; and the switch has certain load limitation, and when the master station and the slave station have too much access, the switch may cause the situation of data forwarding blocking to be more serious due to too high load, and the actual application requirements cannot be met.
Disclosure of Invention
In view of this, the invention provides a method for implementing an EtherCAT network with multiple master stations and a network system using the same, which solve the problem that when EtherCAT master devices and/or slave devices are accessed too much in the prior art, a switch may cause serious data forwarding blocking due to too high load, and cannot meet the actual application requirements, and particularly,
a method for realizing an EtherCAT network with multiple master stations is suitable for a network system with multiple EtherCAT master station devices, an Ethernet switch and slave station devices, and comprises the following steps:
the method comprises the steps that an SDN controller is mounted on an Ethernet switch, and VLAN channels inside the Ethernet switch are divided into real-time VLAN channels and non-real-time VLAN channels through the SDN controller, wherein the real-time VLAN channels are used for forwarding real-time data, and the non-real-time VLAN channels are used for forwarding non-real-time data;
the method comprises the steps of creating a real-time scheduling module in the SDN controller, wherein the real-time scheduling module is used for judging the priority of forwarded data, distributing VLAN channels adopted when the forwarded data are forwarded according to the priority, and scheduling the forwarding sequence of the forwarded data in the VLAN channels in real time.
Optionally, the real-time VLAN channel includes two unidirectional data transmission channels in opposite directions, and the non-real-time VLAN channel includes one bidirectional data transmission channel.
Optionally, the real-time scheduling module determines a priority according to the level of the VLAN identifier of the forwarded data, where the priority includes a high priority and a low priority, where the high priority data corresponds to real-time data, and the low priority data corresponds to non-real-time data.
Optionally, the real-time data is process data of the EtherCAT master station device and the slave station device; the non-real-time data includes error diagnostic information and/or statistical information.
Optionally, when the real-time data and the non-real-time data need to be forwarded simultaneously, the real-time data is preferentially forwarded, and after the real-time data is forwarded, the non-real-time data is forwarded again.
Optionally, when only real-time data or non-real-time data needs to be forwarded, a forwarding order of the forwarded data in the real-time VLAN channel or the non-real-time VLAN channel is determined by a VLAN identification bit of the forwarded data, and the priority of the VLAN identification bit corresponding to the forwarding order of the VLAN identification bit is changed from low to high from high to low.
The invention also provides a network and a method for realizing the EtherCAT network with the multiple master stations.
Optionally, a network provided by the present invention includes EtherCAT master station equipment, an ethernet switch, an SDN controller, and slave station equipment, where:
the EtherCAT master station equipment is used for communicating with the slave station equipment, and performing parameter setting, and/or process data acquisition and/or working state reading on the slave station equipment;
the Ethernet switch is used for forwarding the switching data between the EtherCAT master station equipment and the slave station equipment to realize the communication between the EtherCAT master station equipment and the slave station equipment;
the SDN controller is mounted on the Ethernet switch and used for dividing and managing VLAN channels inside the Ethernet switch and scheduling the forwarding sequence of data exchanged between the EtherCAT master station equipment and the slave station equipment in real time;
and the slave station equipment is used for communicating with the EtherCAT master station equipment, setting parameters by the EtherCAT master station equipment, and/or feeding back process data to the EtherCAT master station equipment, and/or feeding back a working state to the EtherCAT master station equipment.
Optionally, a real-time scheduling module is created in the SDN controller, and the real-time scheduling module is configured to determine a priority of the forwarded data, allocate a VLAN channel used when the forwarded data is forwarded to the forwarded data according to the priority, and perform real-time scheduling on a forwarding order of the forwarded data in the VLAN channel.
Optionally, the SDN controller further includes a non-real-time module, where the non-real-time module receives error information of real-time data transmission, and forwards the error information through a non-real-time VLAN channel.
The invention provides a method for realizing an EtherCAT network with multiple master stations and a network system adopting the same.
Drawings
The above and other objects, features and advantages of the present disclosure will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings. The drawings described below are merely some embodiments of the present disclosure, and other drawings may be derived from those drawings by those of ordinary skill in the art without inventive effort.
FIG. 1 is a conventional multi-master EtherCAT network;
fig. 2 is a schematic diagram of a multi-master station EtherCAT network based on SDN technology in embodiments 1 and 2 of the present invention;
fig. 3 is a schematic diagram of an ethernet switch with an SDN controller mounted therein in embodiment 1 and embodiment 2 of the present invention;
fig. 4 is a schematic flow chart of a method for implementing an EtherCAT network with multiple master stations in embodiment 2 of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings.
While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art so that they can be readily implemented by those skilled in the art. As can be readily understood by those skilled in the art to which the present invention pertains, the embodiments to be described later may be modified into various forms without departing from the concept and scope of the present invention. Wherever possible, the same reference numbers will be used throughout the drawings to refer to the same or like parts.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the singular forms "a", "an" and "the" include plural forms as well, unless the contrary is expressly stated. The term "comprising" as used in the specification embodies particular features, regions, constants, steps, actions, elements and/or components and does not exclude the presence or addition of other particular features, regions, constants, steps, actions, elements, components and/or groups.
All terms including technical and scientific terms used hereinafter have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms defined in dictionaries are to be interpreted as meanings complied with in the relevant technical documents and the present disclosure, and cannot be interpreted as having a very formal meaning without definition.
SDN (software defined network) is an emerging network architecture in the internet domain. The SDN architecture may be divided into three layers, an application layer, a control layer, and an infrastructure layer, according to logical functions and spatial locations. The control layer and the data forwarding layer communicate through a southbound protocol, and the control layer and the application layer communicate through a northbound protocol. The southbound interface defined by the method decouples the management control and data forwarding functions of network equipment such as switches and routers of a network infrastructure layer, so that control plane resources of the underlying network equipment are abstracted into a control layer of an SDN framework, and the 'intellectualization' of the underlying forwarding equipment is realized.
Example 1:
this embodiment provides a network system, can realize the high-speed communication between a plurality of EtherCAT main website equipment and the slave station equipment, and this network system includes EtherCAT main website equipment, ethernet switch, SDN controller, slave station equipment, wherein:
the EtherCAT master station equipment is used for communicating with the slave station equipment and performing parameter setting, process data acquisition and working state reading on the slave station equipment;
the Ethernet switch is connected with the EtherCAT master station equipment and the slave station equipment through lines and used for forwarding exchange data between the EtherCAT master station equipment and the slave station equipment to realize communication between the EtherCAT master station equipment and the slave station equipment;
the SDN controller is mounted on the Ethernet switch and used for dividing and managing VLAN channels inside the Ethernet switch, and scheduling the forwarding sequence of data exchanged between the EtherCAT master station equipment and the slave station equipment in real time to realize high-speed forwarding of the data exchanged between the EtherCAT master station equipment and the slave station equipment;
and the slave station equipment is connected with the EtherCAT main station equipment and/or the Ethernet switch through a line, is communicated with the EtherCAT main station equipment, is set with parameters by the EtherCAT main station equipment, and/or feeds back process data to the EtherCAT main station equipment and/or feeds back a working state to the EtherCAT main station equipment.
As shown in fig. 2, the network system in this embodiment is a multi-master station device EtherCAT network system, and the network system includes two ethernet switches, namely a first ethernet switch and a second ethernet switch, on which SDN controllers are mounted; the first Ethernet switch is connected with two EtherCAT master station devices which are respectively a first EtherCAT master station device and a second EtherCAT master station device, and the two EtherCAT master station devices can exchange data through the first Ethernet switch; the plurality of serially connected slave station devices are directly connected with the first EtherCAT master station device for data exchange, and parameters are set by the first EtherCAT master station device, and/or process data are fed back, and/or working states are fed back; in addition, a port of the first Ethernet switch is connected with a basic I/O expansion board, and an I/O signal transmission path is increased; the port of the first Ethernet switch is also connected with slave station equipment, and the first EtherCAT master station equipment and/or the second EtherCAT master station equipment can perform parameter setting, and/or process data acquisition, and/or working state reading on the slave station equipment connected with the port of the first Ethernet switch; the first Ethernet switch is also connected with the second Ethernet switch through a port, so that the first EtherCAT master station device and/or the second EtherCAT master station device can communicate with the master station device and/or the slave station device connected with the first EtherCAT master station device and/or the second EtherCAT master station device through the second Ethernet switch.
Specifically, the second ethernet switch is directly connected with a third EtherCAT master station device, and ports of the second ethernet switch are respectively connected with a GigE camera, a slave station device and a PLC, wherein the GigE camera belongs to a slave station device; the PLC belongs to a master station device, and can be used for communicating with a slave station device and controlling the slave station device, so that the network expansibility is improved.
Because the first Ethernet switch and the second Ethernet switch are connected through the ports, the first EtherCAT master station device and/or the second EtherCAT master station device can not only directly or indirectly communicate with the slave station device connected to the first Ethernet switch, but also communicate with the slave station device connected to the second Ethernet switch; similarly, the third EtherCAT master device can not only communicate with the slave device connected to the second ethernet switch, but also directly or indirectly communicate with the slave device connected to the first ethernet switch.
The mode of interconnect among etherCAT main website equipment, ethernet switch and the slave station equipment specifically is: establishing Access connection between EtherCAT main station equipment and an Ethernet switch; establishing Access connection between the Ethernet switch and EtherCAT slave station equipment; a Trunk connection is established between the two ethernet switches. The SDN controller and the Ethernet switch are communicated based on an OpenFlow protocol.
As shown in fig. 3, in the embodiment, the SDN controller divides a VLAN channel in the ethernet switch into a real-time VLAN channel and a non-real-time VLAN channel based on a basic attribute of a switch-partitionable VLAN, where the real-time VLAN channel is used to forward real-time data, and the non-real-time VLAN channel is used to forward non-real-time data.
Preferably, a real-time scheduling module is created in the SDN controller, and the real-time scheduling module is created in a program encapsulation manner, and is used for judging the priority of the forwarded data, allocating a VLAN channel used when the forwarded data is forwarded to the forwarded data according to the priority, and scheduling the forwarding sequence of the forwarded data in the VLAN channel in real time, so that the time delay for implementing data forwarding is reduced, and the problem that the time delay of forwarding data with high real-time requirement in the multi-master station EtherCTA network in the prior art is large in the ethernet switch is solved.
Preferably, the SDN controller further includes a non-real-time module, where the non-real-time module receives error information of real-time data transmission, and forwards the error information through a non-real-time VLAN channel.
The embodiment provides a network system, an SDN controller is mounted on an ethernet switch, a management control function of the ethernet switch is transferred to the SDN controller, and the ethernet switch is only responsible for forwarding and transmitting data, so that separation of data forwarding and management control functions is realized, a load of the ethernet switch in an EtherCAT network is reduced, and network expansibility is improved; VLAN channels are managed through the SDN controller, so that data of the master station equipment and/or the slave equipment with different real-time requirements are shunted and forwarded, the data forwarding is controlled by the SDN controller, the forwarding time delay is reduced, and the problem of poor data forwarding real-time performance in the EtherCAT network with the multiple master stations in the prior art is solved.
Example 2:
as shown in fig. 4, this embodiment provides a method for implementing an EtherCAT network with multiple master stations, which is applicable to the network system provided in embodiment 1, and includes the following steps:
s1, mounting the SDN controller on an Ethernet switch, and dividing a VLAN channel of the Ethernet switch into a real-time VLAN channel and a non-real-time VLAN channel through the SDN controller;
specifically, VLAN (virtual local area network) channel division belongs to one of basic attributes of a switch, and the way of dividing the VLAN channel includes: the method for dividing the VLAN channel comprises the steps of dividing the VLAN channel based on a port, dividing the VLAN channel based on an MAC address, dividing the VLAN channel based on a network layer protocol, dividing the VLAN channel according to IP multicast, dividing the VLAN channel according to a strategy and dividing the VLAN channel according to user definition.
When data sent by the EtherCAT master station device and/or the slave station device enters the Ethernet switch, different VLAN identifications are marked according to the MAC addresses, and the data with different VLAN identifications have different priorities. Specifically, according to the ieee802.ac standard, 4 bytes are inserted into an ethernet frame as a VLAN identifier, where the first 3 bits of the third byte are used to identify the priority of a VLAN, in this embodiment, it is specified that the low identifier bit is a high priority, and the high identifier bit is a low priority, in this embodiment, there are 16 VLAN identifier bits, and the sequence of the VLAN identifier bits is from low to high 0-15, where the VLAN identifier bits belong to 0-7 and are high priorities, and the VLAN identifier bits belong to 8-15 and are low priorities.
Since the real-time requirement of the real-time data when being forwarded is higher than that of the non-real-time data, it is preferable in this embodiment that the data with high priority is corresponding to the real-time data, and the data with low priority is corresponding to the non-real-time data.
Preferably, the real-time VLAN channel includes two unidirectional data transmission channels in opposite directions, and the two unidirectional data transmission channels are respectively used for data transmission during reception and data transmission during transmission, so that the real-time performance of data transmission is ensured; the non-real time VLAN channel includes a bidirectional data transmission channel, which can be used for both data transmission during reception and data transmission during transmission.
Preferably, in this embodiment, the real-time data is process data of the EtherCAT master station device and the EtherCAT slave station device; the non-real-time data includes error diagnostic information and/or statistical information. Because the process data is transmitted periodically, in order to ensure the real-time property of the transmission, the process data uses a real-time VLAN channel to transmit the data; and data with low real-time requirements such as error diagnosis information, statistical information and the like are forwarded by using a non-real-time VLAN channel.
And S2, establishing a real-time scheduling module in the SDN controller, wherein the real-time scheduling module is used for judging the priority of the forwarded data, distributing a VLAN channel adopted when the forwarded data is forwarded according to the priority, and scheduling the forwarding sequence of the forwarded data in the VLAN channel in real time.
Specifically, the real-time scheduling module judges whether the data belongs to real-time data or non-real-time data according to the range of the VLAN identifier in the Ethernet frame of the data transmitted into the buffer area of the Ethernet switch, so that the real-time data is forwarded through a real-time VLAN channel, sufficient bandwidth is reserved for the real-time data, the real-time data is not interfered by other channels and is forwarded at one time, and the stability of high-speed transmission of the part of data is ensured; and the non-real-time data is forwarded through the non-real-time VLAN channel.
Preferably, when the real-time data and the non-real-time data need to be forwarded simultaneously, the real-time data is preferentially forwarded, and after the real-time data is forwarded, the non-real-time data is forwarded again.
Specifically, if the real-time data and the non-real-time data need to be forwarded in the ethernet switch at the same time, a collision may be caused, so that the real-time scheduling module in the SDN controller determines to forward the real-time data preferentially according to the VLAN identifier, so that the non-real-time data temporarily waits, and a bandwidth resource is made for the real-time data, and the non-real-time data is forwarded until the real-time data is forwarded completely.
Preferably, when only real-time data or non-real-time data needs to be forwarded, the forwarding order of the forwarded data in the real-time VLAN channel or the non-real-time VLAN channel is determined by the VLAN identification bits of the forwarded data, and the priority of the VLAN identification bits corresponding to the forwarding order of the VLAN identification bits from low to high is from high to low. After determining the VLAN channel adopted when the data is forwarded, further judging the priority of data forwarding in the real-time VLAN channel or the non-real-time VLAN channel, queuing the data according to the height of the identification bits of the data, controlling the data with low identification bits to be forwarded preferentially, reserving the data with high identification bits in a buffer area, and forwarding the data after the data with lower identification bits are completely forwarded.
The SDN controller also comprises a non-real-time module, the non-real-time module works at a low priority level, data generated by the non-real-time module is non-real-time data, bandwidth resources of the non-real-time data can be preempted by the real-time scheduling module, and data forwarding is allowed to have a certain delay.
When the real-time data and the data generated by the non-real-time module need to be forwarded simultaneously, the bandwidth resource of the non-real-time scheduling module is preempted by the real-time scheduling module for preferentially forwarding the real-time data, so that the non-real-time data is temporarily reserved in the buffer area of the Ethernet switch, and the bandwidth resource of the non-real-time module is utilized for forwarding after the real-time data is forwarded.
Preferably, the non-real-time module receives error information of real-time data transmission and forwards the error information through the non-real-time VLAN channel.
Preferably, the error information of the real-time data transmission can be delivered to the non-real-time module in a software interrupt mode, and then forwarded through the non-real-time channel. Specifically, the error information generated by real-time data transmission has low real-time requirement, and the forwarding can be delayed, so that the error information can be handed to the non-real-time scheduling module in a software interrupt mode to be forwarded through the non-real-time channel, the forwarding of the real-time data is preferentially completed, and the real-time requirement of the real-time data forwarding is met.
The embodiment provides a method for implementing an EtherCAT network with multiple master stations, which includes mounting an SDN controller on an ethernet switch, dividing a VLAN channel, and scheduling a forwarding sequence of forwarded data in the VLAN channel in real time, so as to overcome a problem of poor real-time performance of data forwarding in the EtherCAT network with the multiple master stations, and improve real-time performance of data forwarding and network practicability.
In summary, the present invention provides a method for implementing an EtherCAT network with multiple master stations and a network system using the same, which is suitable for a network system having multiple EtherCAT master station devices, an ethernet switch and slave station devices, and includes: the method comprises the steps that an SDN controller is mounted on an Ethernet switch, and VLAN channels inside the Ethernet switch are divided into real-time VLAN channels and non-real-time VLAN channels through the SDN controller; the method comprises the steps of creating a real-time scheduling module in an SDN controller, wherein the real-time scheduling module is used for judging the priority of forwarded data, allocating VLAN channels adopted when the forwarded data are forwarded according to the priority, scheduling the forwarding sequence of the forwarded data in the VLAN channels in real time, transferring the management control function of an Ethernet switch to the SDN controller, and enabling the Ethernet switch to be only responsible for forwarding and transmitting the data, so that the separation of the data forwarding function and the management control function is realized, the responsibility of the switch in the prior art is effectively reduced, and the data forwarding time delay is reduced.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.
Thus, it should be appreciated by those skilled in the art that while a number of exemplary embodiments of the invention have been illustrated and described in detail herein, many other variations or modifications consistent with the principles of the invention may be directly determined or derived from the disclosure of the present invention without departing from the spirit and scope of the invention. Accordingly, the scope of the invention should be understood and interpreted to cover all such other variations or modifications.
Claims (10)
1. A method for realizing an EtherCAT network with multiple master stations is suitable for a network system with multiple EtherCAT master station devices, an Ethernet switch and slave station devices, and is characterized by comprising the following steps:
mounting the SDN controller on the Ethernet switch, and dividing a VLAN channel inside the Ethernet switch into a real-time VLAN channel and a non-real-time VLAN channel through the SDN controller, wherein the real-time VLAN channel is used for forwarding real-time data, and the non-real-time VLAN channel is used for forwarding non-real-time data;
the method comprises the steps of creating a real-time scheduling module in the SDN controller, wherein the real-time scheduling module is used for judging the priority of forwarded data, distributing the VLAN channel adopted when the forwarded data is forwarded according to the priority, and scheduling the forwarding sequence of the forwarded data in the VLAN channel in real time.
2. The method of claim 1, wherein said real-time VLAN tunnel comprises two unidirectional data transmission tunnels of opposite directions and said non-real-time VLAN tunnel comprises a bidirectional data transmission tunnel.
3. The method of claim 1, wherein the real-time scheduling module determines a priority according to a level of the VLAN identification bit of the forwarded data, and the priority includes a high priority and a low priority, wherein the high priority data corresponds to real-time data and the low priority data corresponds to non-real-time data.
4. The method of claim 1, wherein the real-time data is process data of an EtherCAT master device and a slave device; the non-real-time data includes error diagnostic information and/or statistical information.
5. The method of claim 1, wherein the real-time data is preferentially forwarded when the real-time data and the non-real-time data need to be forwarded simultaneously, and wherein the non-real-time data is forwarded after the real-time data is forwarded.
6. The method of claim 3, wherein when only the real-time data or the non-real-time data needs to be forwarded, the forwarding order of the forwarded data in the real-time VLAN channel or the non-real-time VLAN channel is determined by the VLAN identification bit of the forwarded data, and the priority of the VLAN identification bit corresponding to the forwarding order is from low to high.
7. A network system, characterized in that, the method for implementing the EtherCAT network with multiple master stations as claimed in any one of claims 1 to 6 is adopted.
8. The network system of claim 7, comprising an EtherCAT master device, an ethernet switch, an SDN controller, a slave device, wherein:
the EtherCAT master station equipment is used for communicating with the slave station equipment, and performing parameter setting, and/or process data acquisition and/or working state reading on the slave station equipment;
the Ethernet switch is used for forwarding the switching data between the EtherCAT master station equipment and the slave station equipment to realize communication between the EtherCAT master station equipment and the slave station equipment;
the SDN controller is mounted on the Ethernet switch and used for dividing and allocating the VLAN channels inside the Ethernet switch and scheduling the forwarding sequence of data exchanged between the EtherCAT master station device and the slave station device in real time;
and the slave station equipment is used for communicating with the EtherCAT master station equipment, setting parameters by the EtherCAT master station equipment, and/or feeding back process data to the EtherCAT master station equipment, and/or feeding back a working state to the EtherCAT master station equipment.
9. The network system of claim 8, wherein a real-time scheduling module is created in the SDN controller, and the real-time scheduling module is configured to determine a priority of forwarded data, allocate the VLAN channel used for forwarding the forwarded data according to the priority, and schedule a forwarding order of the forwarded data in the VLAN channel in real time.
10. The network system of claim 9, further comprising a non-real-time module in the SDN controller, the non-real-time module receiving error information for the real-time data transmission and forwarding the error information over the non-real-time VLAN channel.
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