DE102020127334A1 - Middle station and bus system with a middle station - Google Patents

Abstract

Bus system, - with a head station (200), which is suitable as a participant (200) of a field bus (30) and can be connected to the field bus (30), and - with a first sub-bus (10) and participants (200, 310, 100) of the first sub-bus (10), - with a second sub-bus (20) and users (100, 320) of the second sub-bus (20), - with a middle station (100) which has a first transmit-receive circuit (110) for connection having the first sub-bus (10) and a second transmit/receive circuit (120) for connection to the second sub-bus (20), in which the head station (200) is designed as a master (M) of the first sub-bus (10), in which the middle station (100) is designed as a slave (S) of the first sub-bus (10), in which the middle station (100) is designed as a master (M) of the second sub-bus (20).

Description

Different solutions for safety-related bus components are known from the prior art. For example, openSAFETY is a communication protocol for the transmission of safety-related data when operating machines and other technical facilities in industrial production, in process plants or in similar areas. Such safety data can be e.g. B. be alarm signals that were triggered by the fact that e.g. a person got caught in the beams of light barriers that are intended to protect the person in a danger area from accidents. openSAFETY enables safety information to be transmitted without cables laid specifically for this type of data. This is possible because openSAFETY is a protocol on a bus system with which safety data can be transmitted via existing Industrial Ethernet lines.

There are also bus-based security solutions such as B. PROFIsafe, Safety over EtherCAT or CIP Safety, which are proprietary technologies. In contrast to these proprietary technologies, openSAFETY only works on the top (application) communication layer of the network. This approach is also referred to as the black channel principle in communication protocols.

There are numerous controllers on the market, controllers with on-board I/Os, block I/Os and modular I/O systems, optionally with couplers or controllers as head stations. In addition to the standard version, many of these components are also available as safety-related components. The safety-related variant is usually more expensive, more complex to configure and tends to be less performant and limited in terms of functionality compared to standard components.

In many applications, the majority of the sensors and actuators are connected and controlled using standard components. Often only a small part of a system is safety-relevant, but requires the presence of corresponding safe I/Os and safe controllers.

Safe components and standard components must interact. For cost reasons, the number of components should be minimized, ie it is possible, for example, to operate safety-related I/Os on a non-safety-related head station of a modular I/O system. In many cases, the additional costs for a second modular I/O system with a safety-related head station in the same system can be avoided. the 8th shows such a constellation of the prior art. Here, a safety PLC 90′ exchanges process data P′ via a fieldbus 30′ with non-safety-related participants IOM′ of a local bus 10′, so-called standard IOMs, and with safety-related participants IOM′ of the local bus 10′, so-called safety-related IOMs. In 8th the safety-related participants IOM' are marked by hatching.

Field bus 30' and local bus 10' do not necessarily have to be "safe". Instead, these are regarded as a "black channel" and the process data P' are protected via special protocols, such as openSAFETY, which are transparent to the field bus 30' and local bus 10'.

In the bus system 8th the safety-related I/O module IOM' in the local bus 10' must support the safety protocol directly. Due to the scope and effort, you cannot implement any number of protocols. Known products of an I/O module IOM' usually only support one protocol. As a result, the safety-related I/O modules IOM' can generally only be operated with specific fieldbuses 30' and controllers 90'. The protocols established on the market for transmitting the safety-relevant data P′ are proprietary and can usually only be used with certain fieldbuses and are usually not compatible with one another.

The safety-related PLC' must serve both the safety-related I/O modules IOM' and the standard I/O modules IOM'. It must therefore be designed to be more powerful than is required for the actual safety-related task. This can result in higher costs. Alternatively to 8th there are also bus systems without safety-related components. It is also possible to provide a bus system that exclusively uses the local bus 10' and has no field bus connection 30'. In this case, the head-end station is not just a coupler, but has a controller with a programmable logic controller.

In the EP 1 054 309 A2 describes a method for the secure transmission of data signals via a bus system, the data signals being generated by at least one sensor and transmitted to at least one actuator via the bus system. The data signals generated by at least one of the sensors are coded according to a predetermined security coding method before being introduced into the bus system. The encoded data signals are then fed into the bus system and transmitted via it. The coded data signals are received by at least one of the actuators and decoded according to a decoding method corresponding to the specified security coding method.

The invention is based on the object of specifying a bus system that is improved as much as possible.

This object is solved by the features of claim 1. Advantageous developments are the subject of dependent claims.

A bus system is provided with a head-end station and with a first sub-bus and users of the first sub-bus. The bus system has a second sub-bus and users of the second sub-bus. The bus system has a middle station which has a first transceiver circuit for connection to the first sub-bus and a second transceiver circuit for connection to the second sub-bus.

The head station is designed as the master of the first subbus.

The middle station is designed as a slave of the first subbus. The middle station is designed as the master of the second sub-bus.

According to an advantageous development, the first sub-bus is designed as a ring bus. According to an advantageous development, the second sub-bus is designed as a ring bus.

According to an advantageous development, the head-end station and the participants of the first sub-bus and the middle station are set up to transmit a first data packet generated and sent by the head-end station through all participants of the first sub-bus designed as slaves and the middle station designed as slaves back to the head-end station.

Advantageously, process data are transmitted using the first data packet in a summation frame protocol. A summation frame in the first data packet advantageously has first process data, for example process output data and/or process input data for participants, in particular all participants of the first sub-bus.

According to an advantageous development, the middle station and the participants of the second subbus are set up to transmit a second data packet generated and sent by the middle station back to the middle station through all participants of the second subbus designed as slaves.

Advantageously, process data are transmitted using the second data packet in a summation frame protocol. A summation frame in the second data packet advantageously has second process data, for example process output data and/or process input data for participants, in particular all participants of the second sub-bus.

According to an advantageous development, the users of the first sub-bus have fastening means for fixing the position of the users of the first sub-bus in relation to one another. The fastening means can preferably bring about a force fit and/or form fit for fastening.

The subscribers of the first sub-bus are advantageously designed such that they can be plugged in and/or locked in place by means of the fastening means. According to an advantageous development, the users of the first sub-bus are designed as units that can be stacked next to one another.

According to an advantageous development, the users of the second sub-bus have fastening means for fixing the position of the users of the second sub-bus in relation to one another. The fastening means can preferably bring about a force fit and/or form fit for fastening.

The participants of the second sub-bus are advantageously designed to be pluggable and/or latchable by means of the fastening means. According to an advantageous development, the participants of the second sub-bus are designed as units that can be stacked next to one another.

According to an advantageous development, the middle station has fastening means for fixing the position of the middle station in relation to one of the users of the first sub-bus and to one of the users of the second sub-bus.

According to an advantageous development, the head-end station, middle station and subscriber are designed as a modular system. Advantageously, the head-end station, middle station and subscriber can be assembled into a mechanically coherent assembly by means of fastening means. This assembly can also be referred to as a node.

Advantageously, the head-end station, middle station and subscribers can be fastened, for example latched and/or plugged in, on a plate or support rail.

According to an advantageous development, the position of the participants is fixed in a detachable manner. The detachable fixation enables the user to change the arrangement of the position of the participants within the node. more beneficial In this way, participants can be exchanged or added remotely, especially while the subbus is in operation.

According to an advantageous development, users of the first sub-bus, users of the second sub-bus and the middle station are designed as separate disk-shaped modules. The disc-shaped modules are designed in one piece or in several pieces. Advantageously, each disk-shaped module has electrical contacts for electrical connection of the first sub-bus and/or second sub-bus.

According to an advantageous development, the middle station is fastened, in particular detachably, to a directly adjacent subscriber of the first sub-bus by means of fastening means. According to an advantageous development, the middle station is fastened, in particular detachably, to a directly adjacent subscriber of the second sub-bus by means of fastening means.

According to an advantageous development, the fastening means form a form fit and/or a force fit. In advantageous configurations, the fastening means have a catch and/or a plug-in device and/or clamps and/or undercuts or the like.

According to an advantageous development, the head-end station is also set up for communication via a fieldbus. The head-end station is advantageously suitable as a participant in the fieldbus. Advantageously, the head station can be connected to the fieldbus.

The fieldbus is designed, for example, according to the Profinet or the EtherCAT standard. Advantageously, the field bus is superior to the first sub-bus and/or the second sub-bus. According to an advantageous development, a fieldbus protocol differs from a protocol for the first subbus and from a protocol for the second subbus. The first sub-bus and the second sub-bus can also be referred to as a local bus.

According to an advantageous development, the first sub-bus and the second sub-bus have identical sub-bus protocols.

According to an advantageous development, the users of the first sub-bus and the users of the second sub-bus have the same transmit/receive circuits for communication via the respective sub-bus. Such transmit-receive circuits can also be referred to as a bus connection. According to an advantageous development, the users of the first sub-bus and the users of the second sub-bus have the same transmission media of the respective sub-bus. Transmission media are elements for transmitting communication, such as line sections, contacts or the like.

Participants can be used either in the first sub-bus or in the second sub-bus.

According to an advantageous development, the first sub-bus is subordinate to the field bus.

According to an advantageous development, the second sub-bus is subordinate to the field bus.

According to an advantageous development, the bus system in the first sub-bus is ring-shaped. A first data packet with a total data frame for the participants of the first sub-bus is preferably transmitted in a ring shape by all participants of the first sub-bus.

The first data packet is preferably generated by the master of the head-end station and passed on by the participants of the first sub-bus according to their arrangement in the ring form, with each participant of the first sub-bus reading data from the first data packet and/or reading data into can write the first data packet.

According to an advantageous development, the bus system in the second sub-bus is ring-shaped. In this case, a second data packet with a total data frame for the participants of the second sub-bus is preferably transmitted in a ring shape by all participants of the second sub-bus.

The second data packet is preferably generated by the master of the middle station and forwarded by the participants of the second sub-bus according to their arrangement in the ring form, with each participant of the second sub-bus - advantageously at the same time as the data packet is forwarded - reading data from the second data packet and/or reading data into can write the second data packet.

According to an advantageous development, the head-end station is set up to generate a first data packet for the transmission of first process input data and to send it to the first sub-bus. The first data packet is intended for receiving the first process input data. The first process input data is associated with process input signals at one or more slaves of the first sub-bus.

According to an advantageous development, the middle station is set up to generate a second data packet for the transmission of second process input data and to send it to the second sub-bus. The second data packet is intended for receiving the second process input data. The second process input data is associated with process input signals at one or more slaves of the second sub-bus. In contrast, the first data packet is not transmitted on the second subbus, and the second data packet is not transmitted on the first subbus.

According to an advantageous development, the master of the head-end station has a predetermined first transmission time for the transmission of the first data packet. According to an advantageous development, the master of the middle station has a predetermined second transmission time for the transmission of the second data packet.

Advantageously, the first time of transmission of the transmission of the first data packet and the second time of transmission of the transmission of the second data packet are determined relative to one another in terms of time such that the second data packet is received by the central station at a second reception time after the first transmission time and chronologically before a first reception time of reception of the first data packet. This is particularly advantageous when at least the second data packet contains input data.

The data packets are advantageously formed by symbols following one another in time, for example with a width of 8 bits. According to a particularly advantageous development, it is provided that the second reception time, at which the second data packet has been completely received, is before the reception of a temporally first symbol of the first data packet. In this way, the delay can be minimized if data based on data in the second data packet are to be written into this temporally first symbol.

At least the second data packet advantageously contains output data. According to an advantageous development, the middle station is set up to define a second transmission time of the transmission of the second data packet at a fixed time interval after a first reception time of the reception of the first data packet by the middle station. This enables the second data packet to be sent deterministically with little latency, however. Data of the second data packet can be based on data of the first data packet.

According to an advantageous development, the middle station is set up to determine a validity, for example using a checksum, of the second data packet. The first time of transmission and the second time of transmission are predetermined in such a way that the second data packet is completely received by the central station and evaluated as valid at the second time of reception.

According to one advantageous development, the middle station is set up to write first process data into the first data packet based on the second process input data of the second data packet received at the second reception time. According to different developments that can also be combined, the process data can be based on the second process input data in different ways.

It is possible for the second process input data to be accepted unchanged as first process data in the first data packet. In this case, the process input data is moved or copied, for example.

It is also possible for the first process data to be determined from process input data. For example, a status value for a process status is calculated on the basis of the process input data and possibly further data. The process status can be interpreted, for example, as "safety door of the plant closed". The calculated state value can then be transmitted back to the head-end station via the first sub-bus as part of the first process data.

According to an advantageous development, the head station is set up for outputting process output signals associated with first process output data on one or more slaves of the first subbus, to generate a first data packet for transmission of the first process output data and to send it to the first subbus. In this case, it is possible for the head-end station to generate and transmit a first data packet for the first process output data and the first process input data with a time offset. It is also possible for the head-end station to generate and send a first data packet for the first process output data and the first process input data. According to an advantageous development, the head-end station is set up to send the first data packet continuously, in particular cyclically.

According to an advantageous development, the middle station is set up for outputting process output signals associated with second process output data on one or more slaves of the second subbus, to generate a second data packet for transmission of the second process output data and to the second sub to send bus. In this case, it is possible for the middle station to generate and transmit a second data packet for the second process output data and the second process input data with a time offset. It is also possible for the middle station to generate and send a second data packet for the second process output data and the second process input data. According to an advantageous development, the middle station is set up to send the second data packet continuously, in particular cyclically.

According to an advantageous development, the middle station is set up to write the second process output data into the second data packet based on the second process data received with the first data packet. According to different developments that can also be combined, the second process output data can be based on the second process data in different ways.

It is possible for the second process data to be accepted unchanged as second process output data in the second data packet. In this case, the second process data is moved or copied, for example. It is also possible for the second process output data to be determined from second process data.

For example, a target state value for a controlled process state is calculated on the basis of the second process data and possibly further data. The controlled process state can be interpreted, for example, as "close the protective door of the plant".

The middle station calculates, for example, based on the target status value, which actuators of the system are controlled over what time or up to which position or up to which sensor signal, for example to close the protective door of the system. The actuators are controlled by the participants of the second sub-bus using the second process output data.

According to an advantageous development, the middle station is set up to send the second data packet after the first data packet has been received. An output time of the first process output signals and the second process output signals is advantageously predetermined in such a way that the second process output signals are transmitted to the participants of the second subbus by means of the second data packet earlier in time.

Another independent aspect of the invention is a middle station.

The middle station has a first transceiver circuit for connection to a first sub-bus.

The middle station has a second transceiver circuit for connection to a second sub-bus.

The middle station is designed as a slave of the first subbus.

The middle station is designed as the master of the second sub-bus.

According to advantageous further development options, the middle station is further developed by the features explained above for the bus system. According to an advantageous development, the middle station is used in the bus system explained. In alternative developments, the middle station can also be used in a different bus system, for example with a line or star structure.

According to advantageous further development options, the middle station has a third transmit/receive circuit for connection to a third sub-bus. The middle station is advantageously set up to generate a second data packet and to send it via the second sub-bus and to generate a third data packet and to send it via a third sub-bus. The middle station is advantageously designed and set up as a master of the third sub-bus.

According to an advantageous development, the first sub-bus and the second sub-bus have identical protocols. The identical protocols of the first subbus and the second subbus advantageously differ from a fieldbus protocol of a higher-level fieldbus. This allows the so-called overhead on the sub-buses to be reduced.

According to an advantageous development, the middle station has a computing device that is set up in particular as a programmable logic controller. By means of the programmable logic controller of the middle station, the middle station can control part of an overall process independently, in particular without using the computing capacities of a higher-level PLC, for example.

According to one advantageous development, the middle station has a computing device that is set up to generate second process output data for a number of slaves on the second subbus. For example, the arithmetic unit is designed as a processor or digital arithmetic unit. Advantageously, the computing unit set up to generate the second process output data based on a control and / or regulation algorithm.

According to one advantageous development, the middle station has a computing device that is set up to evaluate second process input data from a number of slaves on the second subbus. According to an advantageous development, the arithmetic unit is set up to input the second process input data into a control and/or regulation algorithm in order to evaluate the second process input data.

Alternatively or additionally, the computing device can be set up to map the second process input data to other values for evaluation, for example to compress them.

According to an advantageous development, the middle station has a computing device that is set up to generate first process data for a master of the first subbus. To generate the first process data, for example, data in a predetermined format is created by the computing device and copied into a data packet (among others) for the first process data on the first subbus.

According to an advantageous development, the middle station has a computing device that is set up to generate the second process output data as a function of the second process input data and/or the first process data. According to an advantageous development, the computing device is set up to determine, in particular to calculate, the first process data based on the second process input data and/or the second process output data.

For example, the first process data is generated by a copy of the second process input data. It is also possible that the first process data are result values of an evaluation of the second process input data and/or the second process output data and/or further data.

For example, a subsystem is controlled by the users of the second subbus. The computing unit is advantageously set up to determine at least one status value associated with a process status of the subsystem based on the second process input data and/or the second process output data and to send this status value in the first process data to the master of the first subbus.

According to an advantageous development, the middle station has a computing device that is set up to evaluate second process data from the master of the first subbus.

According to an advantageous development, the second process data is copied into a separate data packet in the second sub-bus. In this case, the participants of the second sub-bus can evaluate the second process data.

According to an advantageous development, the second process data is sent as process output data via the second sub-bus. According to an advantageous development, the computing unit is set up to control functions or process states based on the evaluation of the second process data.

According to one advantageous development, the middle station has a computing device that is set up to generate the first process data as a function of the second process input data and/or the second process output data and/or the second process data.

For example, a subsystem is controlled by the users of the second subbus. The arithmetic unit is advantageously set up to control a state of the subsystem based on the first process data. In order to control the state of the unit, the second process input data is advantageously additionally evaluated and the second process output data is calculated based on the first process data and possibly the second process input data.

Advantageously, second process input data can be transmitted once or several times and second process output data can be generated and transmitted once or several times until the state of the unit to be controlled is reached. If the state to be controlled is reached, at least one state value is written into the first process data and transmitted to the head-end station.

According to an advantageous development, the middle station has a computing device that is set up as a safety-oriented controller. For example, the safety-related controller meets the requirements of SIL 3, for example according to standard EN 61 508 or a comparable standard. There are four distinct levels for specifying the requirement for the safety integrity of safety functions that are assigned to the E/E/PE safety-related system, with safety integrity level 4 being the highest level of safety integrity and safety integrity level 1 being the lowest.

According to an advantageous development, the arithmetic unit set up as a safety-oriented controller is set up to form a safe connection with safety-oriented slaves of the second subbus. According to an advantageous development, the arithmetic unit set up as a safety-related controller is set up to control a safety-related function by means of the safety-related slaves of the second subbus.

The invention is explained in more detail below by means of exemplary embodiments with reference to drawings. The invention is not limited to the exemplary embodiments shown; in particular, it is possible to combine features of different exemplary embodiments with one another. Likewise, not all features of an exemplary embodiment necessarily have to be used together, but can also individually develop a bus system or a middle station, provided these are not explicitly stated as mandatory to be used together.

• 1: eine schematische Ansicht eines Ausführungsbeispiels eines Bussystems und eines Ausführungsbeispiels einer Mittenstation;
• 2: eine schematische Ansicht eines Ausführungsbeispiels eines Bussystems und eines Ausführungsbeispiels einer Mittenstation;
• 3: eine schematische Ansicht eines Ausführungsbeispiels eines Bussystems und eines Ausführungsbeispiels einer Mittenstation und schematisch dargestellte Datenpakete unter anderem für Ausgangsdaten;
• 4: eine schematische Ansicht eines Ausführungsbeispiels eines Bussystems und eines Ausführungsbeispiels einer Mittenstation und schematisch dargestellte Datenpakete unter anderem für Eingangsdaten;
• 5: eine schematische Ansicht eines Ausführungsbeispiels eines Bussystems und eines Ausführungsbeispiels einer sicherheitsgerichteten Mittenstation;
• 6: eine schematische Ansicht eines Ausführungsbeispiels eines Bussystems und eines Ausführungsbeispiels einer sicherheitsgerichteten Mittenstation;
• 7: eine schematische Ansicht eines Diagramms; und
• 8 eine schematische Ansicht eines Bussystems des Standes der Technik.

show it

• 1 1: a schematic view of an exemplary embodiment of a bus system and an exemplary embodiment of a middle station;
• 2 1: a schematic view of an exemplary embodiment of a bus system and an exemplary embodiment of a middle station;
• 3 1: a schematic view of an exemplary embodiment of a bus system and an exemplary embodiment of a middle station and schematically illustrated data packets, inter alia for output data;
• 4 1: a schematic view of an exemplary embodiment of a bus system and an exemplary embodiment of a middle station and schematically illustrated data packets, inter alia for input data;
• 5 1: a schematic view of an exemplary embodiment of a bus system and an exemplary embodiment of a safety-related middle station;
• 6 1: a schematic view of an exemplary embodiment of a bus system and an exemplary embodiment of a safety-related middle station;
• 7 : a schematic view of a diagram; and
• 8th a schematic view of a bus system of the prior art.

In 1 a middle station 100 is shown schematically. The middle station 100 has a first transmit/receive circuit 110 for connection to a first sub-bus 10 . The middle station 100 has a second transmit/receive circuit 120 for connection to a second sub-bus 20 . In the illustrated embodiment of the middle station 100, the middle station 100 is designed as a slave S of the first sub-bus 10. In addition, the middle station 100 is in the form of a master M of the second sub-bus 20 .

Master M / Slave S is a hierarchical management of access to a common resource, which is known per se, here in 1 of the respective subbus 10, 20. The middle station 100 in the first subbus 10 is a slave subscriber S, but in the second subbus 20 master M. A master M is the only one who has the right to access the subbus 10, 20 without being asked.

A slave S cannot access the sub-bus 10, 20 of its own accord, the slave S must wait until it is asked by the master M (polling) or by means of a data packet circulated by the master M on the sub-bus 10, 20 to the master M Show transfer request. The middle station 100 may accordingly access the second sub-bus 20 without being asked, but not the first sub-bus 10.

The first transmit/receive circuit 110 and the second transmit/receive circuit 120 of the central station 100 can be embodied as separate circuits, for example. For example, these are arranged as separate integrated circuits on a circuit carrier.

It is also possible for the first transmission/reception circuit 110 and the second transmission/reception circuit 120 to be formed together in an integrated circuit, for example in an ASIC or FPGA. In 1 the first transmission-reception circuit 110 and the second transmission-reception circuit 120 are only shown schematically as functional blocks.

In addition to the embodiment of 1 the middle station 100 can have further circuits. For example, the middle station 100 can have a third or further transmission/reception circuit for connection to further, in 1 not shown Subbussen.

For example, the middle station 100 can have a circuit for calculation. For example, the middle station 100 can have a number of inputs and/or a number of outputs for the input/output of signals for a connected system, for example with a number of sensors and/or a number of actuators. In this description, the number includes exactly one or more of the named.

As a further embodiment shows the 1 a bus system. The bus system has a head station 200 and a first sub-bus 10 . In addition to the head-end station 200, participants 310 of the first sub-bus 10 are shown. The bus system also has a second sub-bus 20 . Participants 320 of the second sub-bus 20 are also shown.

The bus system has a middle station 100 which has a first transmit/receive circuit 110 for connection to the first sub-bus 10 and a second transmit/receive circuit 120 for connection to the second sub-bus 20 . The head station 200 is in the form of a master M of the first subbus 10 . The middle station 100 is in the form of a slave S of the first sub-bus 10 . The middle station 100 is in the form of a master M of the second sub-bus 20 .

In addition to the embodiment of 1 the headend 200 can have a number of other interfaces. For example, the head-end station 200 can have an interface to one or more networks such as TCP-IP or fieldbuses such as EtherCAT. Furthermore, the head-end station 200 can have a service interface (eg USB) or a number of signal inputs and/or signal outputs for external devices.

The bus system or the middle station of the embodiments 1 can be supplemented by individual features shown in the other figures and/or by individual developments mentioned in the introduction to the description.

developments of the in 1 illustrated bus system allow several advantages. The middle station 100 and the other participants 320 of the second sub-bus 20 can provide a number of functions that are independent of participants 200, 310 of the first sub-bus 10. For example, the middle station 100 and the other participants 320 of the second sub-bus 20 are supplied by a separate power supply, such as a separate power pack.

A number of sub-functions provided by the participants 100, 320 of the second sub-bus 20 can be continued on the first sub-bus 10 even in the event of a total failure or the communication being switched off. A sub-function can be used to secure the system or operate it in an emergency mode, for example.

In an advantageous embodiment, the head-end station 200 and the middle station 100 are synchronized in time. For example, both the head-end station and the mid-station have a timer that can be synchronized. The communication on the first sub-bus 10 and the communication on the second sub-bus 20 are advantageously coordinated with one another.

In an advantageous embodiment, subscribers 200, 310, 100 of the first sub-bus 10 and subscribers 100, 320 of the second sub-bus 20 are set up to receive analog and/or digital input signals at the same time as part of the synchronization at a common input time (Global Sampling Point). to be read in at inputs and/or to simultaneously output analog and/or digital output signals at outputs at a common output time (Global Output Point) as part of the synchronization.

An embodiment in 2 shows a bus system with a head station 200 and a middle station 100 and a first subbus 10 and a second subbus 20. The head station 200 and the middle station 100 are participants of the first subbus 10. In addition, further participants 310 of the first subbus 10 are shown.

The middle station 100 is also a participant in the second sub-bus 20, with in 2 in addition, further participants 320 of the second sub-bus 20 are shown. The middle station 100 has a first transmission/reception circuit 110 for connection to the first sub-bus 10 and a second transmission/reception circuit 120 for connection to the second sub-bus 20 .

Participants 200, 310 of the first sub-bus 10 have fastening means 201, 301, 302 for releasably fixing the position of the participants 200, 310 of the first sub-bus 10 to one another. Subscribers 320 of the second sub-bus 20 have fastening means 301, 302 for releasably fixing the position of the subscribers 320 of the second sub-bus 20 to one another.

The middle station 100 advantageously has fastening means 101, 102, 103 for releasably fixing the position of the middle station 100 in relation to a subscriber 310 in particular that is adjacent to the first sub-bus 10 and to a subscriber 320 in particular that is adjacent to the second sub-bus 20.

The fasteners 101, 102, 103, 201, 301, 302 are in 2 shown schematically. In configurations, the fastening means can be formed by different force closures and/or form closures. In exemplary embodiments, latches 101, 201, 301 for latching onto a mounting rail 80 or the like can be provided as fastening means. In the embodiments, the fasteners 102, 103 and 302 are optional if at least the Fasteners 101, 201 and 301 are present.

Advantageously, the latches each form a form fit. It is also possible to plug in the participants 200, 310, 100, 320, with fastening means 101, 201, 301 being designed as mechanical plug-in fastenings for forming a force fit and/or form fit.

In an advantageous but optional embodiment, participants 200, 310, 100, 320 are directly attached to one or two adjacent participants 200, 310, 100, 320 by means of fastening means 202, 302, 102, 103. The fastening means 202, 302, 102, 103 are advantageously designed as interlocking projections and recesses that form a form fit.

When mounted on a mounting rail 80, for example, the projections and recesses cause the participants 200, 310, 100, 320 to be fixed to one another in the direction in which they are arranged. The fastening means 202, 302, 102, 103 can be designed as guide edges. In an advantageous embodiment, the participants 202, 302, 102, 103 are guided against one another during assembly and thus positioned relative to one another by the guiding edges.

In one embodiment in 2 participants 310, 320, 100 of the first sub-bus 10 and/or the second sub-bus 20 are designed in several parts. For example, subscribers 310, 320, 100 have a base 313, 323. The bases 313, 323 are designed for mounting on a mounting rail 80, for example. Adjacent bases 313, 323 are electrically connected to one another by electrical contacts K. In 2 the electrical contact points K are shown only schematically. The bases 313, 323 form in 2 a kind of so-called backplane.

Advantageously, main body 312 of participants 310 of the first sub-bus 10, main body 322 of participants 320 of the second sub-bus 20 and a main body 122 of the central station 100 are plugged or snapped onto this base 313, 323. In addition, the participants 310, 320 can have other parts, for example connection terminals 311, 321, which enable external devices such as actuators, sensors, input devices, circuits or the like to be connected. The components 313, 312, 311, 323, 322, 321, 122 of each participant 310, 320, 100 can advantageously be electrically connected to one another by means of electrical contacts K.

In one embodiment in 2 the bus system is designed as a so-called node, which is modularly formed from participants 100, 200, 310, 320 lined up next to one another. In addition to the head station 200 and the middle station 100, a number of other participants 310, 320 are designed as so-called I/O modules (IOM). Each I/O module has a number of inputs and/or a number of outputs with electrical connectors for cable connection to external devices.

For example, an I/O module has a number of analog signal inputs (e.g. a 2-channel analog input) and/or a number of analog signal outputs for analog signals. Other I/O modules have a number of digital inputs and/or digital outputs. Other I/O modules have a serial interface, e.g., RS-232/485 or the like. The most diverse I/O modules are conceivable.

Using the head station, the middle station and freely selectable I/O modules as participants 310, 320 of the sub-buses 10, 20, the user can individually design, change or expand a node.

In one embodiment in the 2 the bus system is designed as a master-slave system. In this case, the head-end station 200 is in the form of a master M of the first sub-bus 10 . The middle station 100 is in the form of a slave S of the first sub-bus 10 . In addition, the middle station 100 is in the form of a master M of the second sub-bus 20 .

In the embodiment of 2 the participants 310 of the first subbus 10 are embodied as S slaves. The first slave 11 is arranged adjacent to the head station 200, the second slave 12 adjacent to the first slave 11, the third slave 13 adjacent to the second slave 12. The fourth slave 14 is also in the series between the third slave 13 and the middle station 100 respectively arranged adjacent.

In the second sub-bus 20, the slave 21 is advantageously arranged adjacent to the middle station 100, followed in sequence by the slaves 22, 23 and an end cap. As can be seen, the middle station 100 has a second transmit/receive circuit 120, connected to the second sub-bus 20, which is set up as a master M of the second sub-bus 20. In contrast, the participants 320 of the second sub-bus 20 are all designed as slaves 21, 22, 23.

In one embodiment of the 2 the middle station 100 has a first transmit/receive circuit 110 which is connected to the first sub-bus 10 as a slave S. Furthermore, the middle station 100 has a computing unit 130, which is connected to the first transmit-receive circuit 110 and the second transmit-receive circuit 120 is connected. Thus, a second transmit/receive circuit 220 of the head-end station 200 is set up as the only one in the first sub-bus 10 as a master M.

In one embodiment in 2 the head-end station 200 also has a first transmit/receive circuit 210 for connection to a field bus 30 . The connection to a field bus 30 is optional, since the node can function autonomously if the head-end station 200 has a computing unit 230, for example a processor, in order to control functions of the node.

Although it is fundamentally possible for different protocols to be used on the two sub-buses 10, 20, in an advantageous embodiment in 2 both sub-buses 10, 20 work with the same sub-bus protocol PT2, so that a user device can be used either as a user 310 of the first sub-bus 10 or as a user 320 of the second sub-bus 20. On the other hand, a fieldbus protocol PT1 that differs from the subbus protocol PT2 is used on the fieldbus 30 .

The computing unit 230 of the head-end station 200 is advantageously set up to extract process data from a fieldbus data packet based on the fieldbus protocol PT1 and to enter it into a subbus data packet based on the subbus protocol PT2. The arithmetic unit 230 of the head station 200 is advantageously set up to extract process data from a subbus data packet based on the subbus protocol PT2 and to enter it into a fieldbus data packet based on the fieldbus protocol PT1.

A summation frame protocol with process data for the participants 310, 320 is advantageously used for the sub-bus protocol PT2. The summation frame protocol requires little overhead. A data packet on the first subbus 10 with the subbus protocol PT2 is advantageously shorter than a fieldbus data packet on the fieldbus 30 with the fieldbus protocol PT1.

A design in 3 has a middle station 100, a head station 200, two slaves 11, 12 of a first subbus 10 as further participants and three slaves 21, 22, 23 of a second subbus 20 as further participants. The first sub-bus 10 is advantageously in the form of a ring bus. The second sub-bus 20 is advantageously in the form of a ring bus. The first slave 11 of the first subbus 10 outputs the process output signal Soll and the second slave 12 outputs the process output signal So12. The first slave 21 of the second sub-bus 20 outputs the process output signal So21 and the second slave 22 outputs the process output signal So22 and the third slave 23 outputs the process output signal So23. The exemplary embodiment is simplified in that the slaves 11, 12, 21, 22, 23 only output process output signals Soll, So12, So21, So22, So23. In addition, there may be slaves (not shown) into which process input signals are input.

In one embodiment in 3 a first data packet DP1' is shown schematically. The first data packet DP1' is generated by the master M of the head station 200, transmitted by means of the first subbus 10 via the slaves 11, 12 to the slave S of the middle station 100 and from the middle station 100 back to the master M of the head station 200.

The first data packet DP1' advantageously contains process output data Poll, Po12 for the first slave 11 and the second slave 12 of the first subbus 10. In one exemplary embodiment 3 contains the first data packet DP1 'second process data P2, the middle station 100 and / or a number of participants 21, 22, 23 of the second sub-bus 20 are associated.

For example, the second process data is an identifier or status value for the central station 100 process output data Po21 intended for a number of participants 21, 22, 23 of the second sub-bus 20. It is also possible for the second process data P2 to be copied unchanged as process output data Po21 into a second data packet DP2' for the second sub-bus 20.

The first data packet DP1' can contain further data--not shown. For example, the first data packet DP1' also contains control data, data packet identifiers, check values or the like. Advantageously, the head-end station 200 is set up to transmit the first data packet DP1′ with process data that may have been changed continuously, in particular cyclically.

In one embodiment in 3 a second data packet DP2' is shown schematically. The second data packet DP2' is generated by the master M of the central station 100, transmitted by means of the second subbus 20 via the slaves 21, 22 to the slave 23 and from the slave 23 back to the master M of the central station 100. The second data packet DP2' contains process output data Po21, Po22, Po23 for the first slave 21 and the second slave 22 and the third slave 23 of the second subbus 20. The slaves 21, 22, 23 of the second subbus 20 are set up based on the process output data Po21, Po22, Po23 output process output signals So21, So22, So23.

In an embodiment in 3 the middle station 100 is set up to provide a deterministic latency between the receipt of a first data packet DP1' on the first sub-bus 10 and the transmission of a second data packet DP2' on the second sub-bus 20. For example, the latency is defined by a clock number of a clock generator.

According to an advantageous embodiment, the bus system is set up, the process output signals Soll, So12, So21, So22, So23 by the I/O modules 11, 12 of the first sub-bus 10 and the I/O modules 21, 22, 23 of the second sub-bus 20 to be output simultaneously at an output time within the scope of a synchronization accuracy. To this end, the head-end station 200 is set up to send the first data packet DP1′ at a preferably predetermined time interval before the output time. The middle station 100 is set up to send the second data packet DP2′ at a preferably predetermined time interval before the output time.

A design in 4 has a middle station 100, a head station 200 as further participants two slaves 11, 12 of a first subbus 10 and as further participants three slaves 21, 22, 23 of a second subbus 20. The first sub-bus 10 is advantageously in the form of a ring bus. The second sub-bus 20 is advantageously in the form of a ring bus. The first slave 11 of the first subbus 10 receives the process input signal Si11 and the second slave 12 receives the process input signal Si12.

To receive the process input signal Si11, the first slave 11 is set up, for example, to sample the process input signal Si11. The first slave 21 of the second subbus 20 receives the process input signal Si21 and the second slave 22 receives the process input signal Si22 and the third slave 23 receives the process input signal Si23. The exemplary embodiment is simplified in that the slaves 11, 12, 21, 22, 23 only receive process input signals Si11, Si12, Si21, Si22, Si23. In addition, slaves can be present, as in 3 shown, which emit process output signals.

In one embodiment in 4 a first data packet DP1 is shown schematically. The first data packet DP1 is generated by the master M of the head station 200, transmitted by means of the first subbus 10 via the slaves 11, 12 to the slave S of the middle station 100 and from the middle station 100 back to the master M of the head station 200. The first data packet DP1 contains process input data Pi11, Pi12 from the first slave 11 and the second slave 12 of the first subbus 10. In one exemplary embodiment 4 contains the first data packet DP1 first process data P1, which are transmitted from the middle station 100 to the master M of the head station.

For example, the first process data P1 is a process value calculated by the central station 200 using a computing unit 120, for example an identifier or status value. The middle station is advantageously set up to determine the first process data P1 based on process input data Pi21, Pi22, Pi23 for a number of users 21, 22, 23 of the second sub-bus 20. It is also possible for the first process data P1 to be copied unchanged as a copy of process input data Pi21, Pi22, Pi23 into the first data packet DP1 by the middle station 100. Advantageously, the head-end station 200 is set up to continuously, in particular cyclically, transmit the first data packet DP1 with possibly changed process data.

In an embodiment relating to 3 and 4 the same first data packet DP1, DP1' has both process input data Pi11 and process output data Po11. In an advantageous embodiment with respect to 3 and 4 two first data packets DP1 and DP1' are provided, which are transmitted over the first sub-bus 10 at different times in order to separate process input data Pi11 and process output data Po11.

In one embodiment in 4 a second data packet DP2 is shown schematically. The second data packet DP2 is generated by the master M of the central station 100, transmitted by means of the second subbus 20 via the slaves 21, 22 to the slave 23 and from the slave 23 back to the master M of the central station 100. The second data packet DP2 contains process input data Pi21, Pi22, Pi23 from the first slave 21 and from the second slave 22 and from the third slave 23 of the second subbus 20. The slaves 21, 22, 23 of the second subbus 20 are set up based on process input signals Si21, Si22 , Si23 to write process input data Pi21, Pi22, Pi23 into the second data packet DP2.

In an embodiment relating to 3 and 4 the same second data packet DP2, DP2' has both process input data Pi21 and process output data Po21. In an advantageous embodiment with respect to 3 and 4 two second data packets DP2 and DP2' are provided, which are transmitted over the second sub-bus 20 at different times in order to separate process input data Pi21 and process output data Po21.

In an embodiment in 4 the middle station 100 is set up to send the second data packet DP2 earlier, in particular at a fixed time interval, than the first data packet DP1 from the Middle station 100 is received. For example, the time interval is defined by a cycle number of a clock generator.

According to an advantageous embodiment in 4 the bus system is set up, the process input signals Si11, Si12, Si21, Si22, Si23 through the I/O modules 11, 12 of the first sub-bus 10 and the I/O modules 21, 22, 23 of the second sub-bus 20 at a sampling time im Simultaneously sample frames of synchronization accuracy. The head-end station 200 is set up to send the first data packet DP1 at a preferably predetermined time interval after the sampling time. The middle station 100 is set up to send the second data packet DP2 at a preferably predetermined time interval after the sampling time.

In one embodiment in 5 A bus system is provided with a programmable logic controller 90, hereinafter SPS (PLC—Programmable Logic Controller), which is connected via a field bus 30 to a head-end station 200 designed as a coupler. A PLC is a device that is used to control or regulate a machine or system and is programmed on a digital basis. The head station 200 is part of a node which has a number of participants 11, 12, 21, 22, 23 and a middle station 100 which are connected to one another in the node for communication via a first sub-bus 10 and a second sub-bus 20, respectively.

In one exemplary embodiment, the process data P arrive in 5 from the PLC 90 via the field bus 30, via the head station 200 to the participants 11, 12 of the first sub-bus 10 and via a transceiver circuit 110 of the middle station 100 to a computing unit 130 of the middle station 100. In the second sub-bus 20, in turn, process data between a transceiver circuit 120 of the middle station 100 and the participants 21, 22, 23 transmitted.

In one embodiment of the 5 It is shown that the computing unit 130 of the middle station 100 is designed as a programmable logic controller SPS, the programmable logic controller SPS of the middle station 100 being designed as a safety-oriented component. Furthermore, two of the participants 21, 22 of the second sub-bus 20 are designed as safety-related I/O modules, with in 5 the safety-related components are highlighted by hatching. The non-safety-related standard components, on the other hand, are shown without hatching.

For example, the safety-oriented controller SPS of the middle station 100 meets the requirements of SIL 3, for example according to the standard EN 61 508 or a comparable standard. In an embodiment of 5 the arithmetic unit 130 set up as a safety-related controller SPS is set up to form a secure connection with the safety-related slaves 21, 22 of the second sub-bus 20.

A safety-related function can be easily controlled by the safety-related components, ie by the arithmetic unit 130 of the middle station 100 configured as a safety-related controller SPS and the safety-related slaves 21, 22 of the second sub-bus 20. In the embodiment of 5 on the other hand, it is not necessary for the higher-level PLC 90 and the fieldbus 30 to be safety-oriented.

The costs can be reduced if the—often rather small and limited—safety functionality is outsourced to a separate—correspondingly smaller and cheaper—safety PLC 130 of the middle station 100 . The safety PLC 130 is integrated in the middle station 100 in the I/O node. It is thus easily possible to modularly supplement a safety-related function using the safety-related middle station 100 and the safety-related slaves 21, 22, 23 in the second sub-bus 20 for a node through the middle station 100. Seen from the fieldbus 30 side, the safety PLC 130 of the middle station 100 is a non-safety-oriented standard I/O module, so that no safety-oriented components or safety-oriented protocols are absolutely necessary on the fieldbus side.

In an embodiment in 5 the middle station 100 receives process data P from the higher-level, non-safety-related PLC 90 via the fieldbus 30 and via the head station 200. The process data P could, for example, be associated with “press down” or “press up”. The safety PLC 130 of the middle station 100 then communicates as the local master of the second sub-bus 20 directly with corresponding safety-related I/O modules 21, 22 as slaves 21, 22 of the second sub-bus 20 and then controls the actuators of the press, taking into account all safety-related aspects .

In an embodiment in 6 the head station 200 is designed as a controller, wherein the controller can have a PLC. In this case, the fieldbus 30 only needs to be connected as an option, so that the controller in the head-end station 200 can control and/or regulate the system. Between the middle station 100 with a safety-related computing unit 130 as a safe ty-SPS 130 and the safety-related slaves 21, 22 use a safety protocol for safe communication. However, there is no safety-related communication with a higher-level controller (not shown). In addition, no safety-related communication between the middle station 100 and the controller of the head station 200 is required. However, it is optionally possible to additionally provide a safety-related communication (not shown) between the head-end station 200 and the middle station 100 .

In one embodiment, the safety PLC in the middle station can also talk to safety-related modules in other nodes, in that a transmission, in particular within a cyclical communication, takes place via the head station 200 and the fieldbus 30 . In one embodiment, the safety PLC 130 of the middle station 100 can also communicate cyclically with non-safety-related standard I/O modules 23 in the second sub-bus 20 . In one embodiment, communication between participants 11, 12 of the first sub-bus 10 and participants 23 of the second sub-bus 20 is possible via the middle station 100.

The participants share the respective sub-bus 10, 20. If the higher-level PLC 90 in one embodiment of the 5 down the fieldbus 30, the process data exchange between PLC 90 and the node, and thus the modules 11, 12, 21, 22, 23 in the node, is stopped. However, the cyclic communication on the first subbus 10 and on the second subbus 20 does not have to be set. A “hard” shutdown of the outputs of the I/O modules 10, 11, 21, 22, 23 can therefore be avoided.

Are in an embodiment of 6 if the participants 100, 21, 22, 23 are supplied with energy separately with a power supply unit, the safety-related function can be continued uninterruptedly and autonomously by means of the safety PLC 130 and the safety I/O modules 21, 22 even after the controller has been shut down will.

In 7 an exemplary embodiment is shown schematically in a time diagram. For explanation, the temporal relationships are shown using the bus system 4 explained. However, the embodiment of the 7 also for from 4 different bus systems, e.g. with several middle stations or a different number of slaves can be used.

In one embodiment in 7 the participants 11, 12, 21, 22, 23 simultaneously sample the applied process input signals Si11, Si12, Si21, Si22, Si23 at the time t _GSP . A channel CE1 of the head-end station 200 is provided for the transmission of process data P. At the transmission time t _TDP1 , the head-end station 200 outputs a first data packet DP1 via the interface TxDN onto the first subbus. The channel CE1 is understood to mean a device for cyclically exchanging process data with the master as a slave in the subbus 10, 20. The sent first data packet DP1 has the identifier IDE'.

At the transmission time t _TDP2 , the middle station 100 sends a second data packet DP2 via the interface TxDN to the second subbus 20. The second data packet has the identifier IDE. The two transmission times t _TDP1 , t _TDP2 usually differ. The number of participants 11, 12, 21, 22, 23 in the respective sub-bus 10, 20 determines when the respective transmission time t _TDP1 , t _TDP2 is defined.

In one embodiment of the 7 the second data packet DP2, after it was transmitted downstream by the participants 21, 22, 23 of the second subbus 20, is transmitted upstream in the reverse order by the participants 21, 22, 23 of the second subbus 20. This is followed by the reception of the second data packet DP1 in the upstream direction at the interface RxUP of the middle station 100.

At the reception time t _RDP2 the second data packet DP2 has been completely received by the central station 100 and its validity DV of the process data Pi21, Pi22, Pi23 is checked. The validity DV of the process data Pi21, Pi22, Pi23 can be determined, for example, using a check value CRC. Even before the validity check and/or afterwards, the middle station 100 can evaluate the process data Pi21, Pi22, Pi23 in the second data packet DP2 and write first process data P1 to the transmit buffer Tx of the channel CE1, with the evaluation advantageously only taking place if the second data packet DP2 can also be valid.

In one embodiment of the 7 the process data Pi21, Pi22, Pi23 of the participants 21, 22, 23 of the second sub-bus 20 are evaluated at the same time or before the first data packet DP1 is sent from the middle station 100 to the head station 200. By the timing of the first data packet DP1 and the second data packet DP2, the data intended for the head-end station 200 is taken from the channel CE1 with minimal latency after the reception of the second data packet DP2. As a result, the first data packet DP1 is delayed only slightly and advantageously deterministically.

The middle station 100 writes, for example, first process data P1 in the through the middle station 100 passed data stream of the first data packet DP1, in particular during the passage. The first process data P1, which are written by the middle station 100 in the first data packet DP1, are, for example, a copy of all or a subset of the process input data Pi21, Pi22, Pi23 of the participants 21, 22, 23 of the second sub-bus 20. Alternatively, the first data packet DP1 written first process data P1 data of a calculation result of middle station 100.

In 7 the reception time t _RDP2 at which the second process data Pi21, Pi22, Pi23 of the participants 21, 22, 23 of the second subbus 20 are validly DV received coincides with the beginning of the reception of the first data packet DP1 by the central station 100. The reception time t _RDP1 , at which the first data packet DP1 is completely received by the central station 100, is correspondingly later in time, ie after the reception time t _RDP2 of the second data packet DP2.

Between the transmission time T _TDP1 by the head-end station 100 and the beginning of the reception of the first data packet DP1 by the middle station 100 is the time difference T _L , which is determined on the basis of the participants 11, 12 in the first sub-bus 10 and their preferably deterministic delay for the in 7 shown time sequence is determined.

The first data packet DP1 is then transmitted from the middle station 100 via the participants 11, 12 of the first sub-bus 10 to the head station 200 until the first data packet DP1 has also been completely received by the head station 200 - in 7 not shown. A validity check is also carried out by the head-end station 200 .

Alternatively, the times t _TDP1 and t _TDP2 can be predetermined in such a way that the time t _RDP2 and the receipt of the first symbol from the first data packet DP1, contrary to the representation in 7 do not lie on top of each other. For example, t _DP2 could be brought forward in order to create time for the processing unit 130 (SPS) of the central station 100 to process the data if the processing takes a certain amount of computing time. Alternatively, it is possible that the times t _TDP1 and t _TDP2 are superimposed, and the data routed through the processing unit 130 of the middle station 100 are subjected to the latency of a cycle time, e.g. transmitted with the next data packet in the following cycle (not shown). .

Reference List

10, 20

Subbus, local bus

10, 20

Subbus, local bus

11, 12, 13, 14, 21, 22, 23

slave, participant

30

fieldbus

80

mounting rail

90

PLC, programmable logic controller

100

middle station

101, 102, 103

fasteners

110, 120

transmit-receive circuit

130

arithmetic unit, processor

200

Head station, coupler, controller

201, 202

fasteners

210

transmit-receive circuit

220

transmit-receive circuit

230

arithmetic unit, processor

301, 302

fasteners

310, 320

Participant

311, 321

Subscriber unit for inputs / outputs

312, 322

Subscriber unit for electronics

313, 323

Subscriber unit as socket / backplane

CE1

channel

CRC

checksum, checksum

DP1, DP1', DP2, DP2'

data packet

dv

validity signal

GSP

global sampling point

IDE

Identifier for process data package

IOM

I/O modules, participants

K

contacts

M

master

P, Po12, P2, Po11, Po21, Po22, Po23, Pi11, P1, Pi12, Pi21, Pi22, Pi23

process data

PT1, PT2

protocol

RxUP

receiving interface

S

slaves

So12, So11, So21, So22, So23, Si11, Si12, Si21, Si22, Si23

Signal, process input signal, process output signal, sensor signal, actuator signal

SPS

programmable logic controller

t

time

tGSP

global sampling time

tRDP1, tRDP2

Time of receipt

tTDP1, tTDP2

time of transmission

tsp

latency

TxDN

sending interface

QUOTES INCLUDED IN DESCRIPTION

This list of documents cited by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent Literature Cited

• EP 1054309 A2 [0009]

Claims (16)

bus system, - with a head station (200), - With a first sub-bus (10) and participants (200, 310, 100) of the first sub-bus (10), - With a second sub-bus (20) and participants (100, 320) of the second sub-bus (20), - with a central station (100) which has a first transmit-receive circuit (110) for connection to the first sub-bus (10) and a second transmit-receive circuit (120) for connection to the second sub-bus (20), in which the participants (200, 310) of the first sub-bus (10) have fastening means (201, 301, 302) for fixing the position of the participants (200, 310) of the first sub-bus (10) in relation to one another, in which the participants (320) of the second sub-bus (20) have fastening means (301, 302) for fixing the position of the participants (320) of the second sub-bus (20) in relation to one another, in which the middle station (100) has fastening means (101, 102, 103) for fixing the position of the middle station (100) to one of the participants (310) of the first sub-bus (10) and to one of the participants (320) of the second sub-bus ( 20), in which the head station (200) is designed as a master (M) of the first sub-bus (10), in which the middle station (100) is designed as a slave (S) of the first subbus (10), and in which the middle station (100) is designed as a master (M) of the second sub-bus (20). bus system claim 1 , In which participants (310) of the first sub-bus (10), participants (320) of the second sub-bus (20) and the middle station (100) are designed as separate disk-shaped modules. Bus system according to one of the preceding claims, in which the middle station (100) is fastened, in particular detachably, by means of fastening means (102) to a directly adjacent subscriber (310) of the first sub-bus (10), and/or in which the middle station (100) is fastened, in particular detachably, by means of fastening means (103) to a directly adjacent subscriber (320) of the second sub-bus (20). bus system, - With a head station (200) which is suitable as a participant (200) of a field bus (30) and can be connected to the field bus (30), and - With a first sub-bus (10) and participants (200, 310, 100) of the first sub-bus (10), - With a second sub-bus (20) and participants (100, 320) of the second sub-bus (20), - with a central station (100) which has a first transmit-receive circuit (110) for connection to the first sub-bus (10) and a second transmit-receive circuit (120) for connection to the second sub-bus (20), in which the head station (200) is designed as a master (M) of the first sub-bus (10), in which the middle station (100) is designed as a slave (S) of the first sub-bus (10), in which the middle station (100) is designed as a master (M) of the second sub-bus (20). Bus system according to one of the preceding claims, in which the first sub-bus (10) and the second sub-bus (20) have, in particular, identical sub-bus protocols (PT2). Bus system according to one of the preceding claims, in which the head station for receiving process input signals (S _i11 , S _i12 ) associated with first process input data (P _i11 , P _i12 ) on one or more slaves (11, 12) of the first subbus (10). (200) is set up to generate a first data packet (DP1) for the transmission of the first process input data (P _i11 , P _i12 ) and to send it to the first sub-bus (10), and in which, for recording process input signals (S _i21 , S _i22 , S _i23 ) belonging to second process input data (P _i21 , P _i22 , P _i23 ) at one or more slaves (21, 22, 23) of the second subbus (20) the middle station (100) is set up, a second data packet (DP2 ) to transmit the second process input data (P _i21 , P _i22 , P _i23 ) to generate and send to the second sub-bus (20). Bus system according to one of the preceding claims, in which a first transmission time (t _TDP1 ) of the transmission of the first data packet (DP1) and a second transmission time (t _TDP2 ) of the transmission of the second data packet (DP2) are determined in terms of time in relation to one another such that the middle station (100) the second data packet (DP2) is received at a second reception time ( _tRDP2 ) after the first transmission time (t _TDP1 ) and before a first reception time (t _RDP1 ) of the reception of the first data packet (DP1). Bus system according to one of the preceding claims, in which the middle station (100) is set up, first process data (P1) in the first data packet (DP1) based on the second process input data (P _i21 , P _i22 , P _i23 ) of the second reception time (t _RDP2 ) received second data packet (DP2) to write. Bus system according to one of the preceding claims, - in which for an output of process output signals (S _O11 , S _O12 ) associated with the first process output data (P _O11, P _O12 ) at one or more ren slaves (11, 12) of the first subbus (10), the head station (200) is set up to generate a first data packet (DP1') for the transmission of the first process output data (P _O11, P _O12 ) and to the first subbus (10) to send, - and in which for an output of process output signals (S _O21 , S _O22 , S _O23 ) belonging to second process output data (P _O21 , P _O22 , P _O23 ) on one or more slaves (21, 22, 23) of the second Subbusses (20) the middle station (100) is set up to generate a second data packet (DP2 ') for the transmission of the second process output data (P _O21 , P _O22 , P _O23 ) and to send it to the second sub-bus (20). Bus system according to the immediately preceding claim, in which the middle station (100) is set up, the second process output data (P _O21 , P _O22 , P _O23 ) in the second data packet (DP2') based on the first data packet (DP1') received second to write process data (P2). middle station (100), - With a first transmit-receive circuit (110) for connection to a first sub-bus (10), - With a second transmit-receive circuit (120) for connection to a second sub-bus (20), in which the middle station (100) is designed as a slave (S) of the first sub-bus (10), in which the middle station (100) is designed as a master (M) of the second sub-bus (20). Middle station (100) according to one of the preceding claims, in which the first sub-bus (10) and the second sub-bus (20) have identical protocols (PT2). Middle station (100) according to one of the preceding claims, with a computing device (130) which is set up in particular as a programmable logic controller (PLC). Middle station (100) according to one of the preceding claims, with a computing device (130) which is set up - for generating second process output data (P _O21 , P _O22 , P _O23 ) for a number of slaves (21, 22, 23) of the second Subbus (20), and/or - for evaluating second process input data (P _i21 , Pi22, Pi23) from a number of slaves (21, 22, 23) of the second subbus (20), and/or - for generating first process data (P1) for a master (M) of the first sub-bus (10), and/or - for evaluating second process data (P2) from the master (M) of the first sub-bus (10). Middle station (100) according to the immediately preceding claim, in which the computing device (130) is set up - the second process output data (P _O21 , P _O22 , P _O23 ) as a function of the second process input data (P _i21 , P _i22 , P _i23 ) and/or to generate the second process data (P2), and/or - to generate the first process data (P1) as a function of the second process input data (P _i21 , P _i22 , P _i23 ) and/or the second process output data (P _O21 , P _O22 , P _O23 ). Middle station (100) according to one of the preceding claims, in which the computing device (130) is set up as a safety-related controller (safety), in which the processing unit (130) set up as a safety-related controller is set up to form a safe connection with safety-related slaves (21, 22) of the second sub-bus (20), in which the arithmetic unit (130) set up as a safety-related controller is set up to control a safety-related function by means of safety-related slaves (21, 22) of the second sub-bus (20).

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