The subject matter disclosed herein relates to a fieldbus system, and more specifically to a fieldbus system having a controller transmitting a plurality of high priority Receive Process Data Objects (RPDOs) and low priority RPDOs to a plurality of fieldbus devices.
A fieldbus is employed to monitor and control one or more pieces of production equipment such as, for example, sensors, actuators, electrical motors, or valves. A fieldbus is generally the equivalent of a local area network (LAN) type connection that requires only one communication point at a controller and allows for multiple pieces of production equipment to be connected concurrently. In one example, a transfer data protocol such as, for example, CANopen may be used to allow communication between the controller and the production equipment. Process data objects (PDOs) are used for broadcasting control and status information between the controller and the production equipment. Specifically, in order to communicate data from the controller to the production equipment, a Receive Process Data Object (RPDO) message is used.
The controller sends both high and low priority RPDOs according to a predefined schedule that is based on the specific CANopen configuration and production equipment specifications. Thus, the controller is typically configured with a unique RPDO transmission schedule to accommodate the RPDO transmission schedules of the production equipment. This means a firmware change is needed in the controller each time the specific CANopen configuration or the production equipment is modified. Changing the firmware in the controller each time the CANopen configuration or the production equipment is modified may become time consuming and may also be costly.
According to one aspect of the invention, a fieldbus system is provided, having a plurality of fieldbus devices and a controller. The controller is in communication with the plurality of fieldbus devices though a fieldbus. The controller transmits a plurality of high priority Receive Process Data Objects (RPDOs) and a plurality of low priority RPDOs to the plurality of fieldbus devices through the fieldbus. The controller includes a control logic for sending each of the plurality of fieldbus devices one of the plurality of high priority RPDOs during a frame. The frame is the fastest rate at which the plurality of high priority RPDOs are transmitted. The controller includes a control logic for sending, if required, at least one of the plurality of fieldbus devices at least one of the plurality of low priority RPDOs. The low priority RPDOs are grouped by a minimum wait time. The controller includes a control logic for defining, if required, at least one low priority thread. The low priority thread accommodates transmission scheduling of the plurality of low priority RPDOs that have the same minimum wait time. The controller includes a control logic for preventing the low priority thread from executing more than once during a frame. The controller includes a control logic for allowing each of the at least one low priority threads to complete at least once during a sequence of frames referred to as a superframe.
These and other advantages and features will become more apparent from the following description taken in conjunction with the drawings.
The subject matter, which is regarded as the invention, is particularly pointed out and distinctly claimed in the claims at the conclusion of the specification. The foregoing and other features, and advantages of the invention are apparent from the following detailed description taken in conjunction with the accompanying drawings in which:
The detailed description explains embodiments of the invention, together with advantages and features, by way of example with reference to the drawings.
As used herein the terms module and sub-module refer to an application specific integrated circuit (ASIC), an electronic circuit, a processor (shared, dedicated, or group) and memory that executes one or more software or firmware programs, a combinational logic circuit, and/or other suitable components that provide the described functionality.
Referring now to
Process data objects (PDOs) are transmitted over the fieldbus 26 and are used for broadcasting control and status information between the controller 22 and the fieldbus devices 20. Specifically, PDOs are used in CANopen for broadcasting high and low priority control and status information. Data from the fieldbus devices 20 are communicated to the controller using Transmitting Receive Process Data Objects (TPDO) messages, and data from the controller 22 is communicated to the fieldbus devices 20 using Receive Process Data Object (RPDO) messages. In one embodiment, the controller 22 transmits both high priority RPDOs and low priority RPDOs to the fieldbus devices 20 through the fieldbus 26.
In the embodiment as shown in
The configuration tool 30 includes control logic for creating the configuration files 32 based on the data files 34 as well as the specific fieldbus devices 20 that were defined by a user. Each configuration file 32 is saved in the memory of the controller 22 and contains information regarding the characteristics of the fieldbus devices 20 that are employed within the fieldbus system 10. The characteristics of the fieldbus devices 20 include the RPDO transmitting schedule of the fieldbus device 20.
The controller 22 includes control logic for sending RPDOs to the fieldbus devices 20 according to a specified RPDO transmitting schedule. Turning now to
The controller 22 includes control logic for transmitting the low priority RPDOs 40 to the fieldbus devices 20 no more than once a frame 44. In the embodiment as shown, the fieldbus devices 20 each have multiple low priority RPDOs 40, where each of the low priority RPDOs 40 for a single fieldbus device 20 are all transmitted in a single slice. A minimum wait time is associated with the low priority PRDOs 40. In the embodiment as shown in
In the exemplary embodiment as shown in
A superframe 46 is defined as the number of frames 44 that are needed for all of the low priority RPDO threads to complete at least at least once. In the exemplary embodiment as shown, the superframe 46 is about 50 ms, however it is to be understood that other time periods may be used as well. In one embodiment, the number of frames 44 in the superframe 46 may be calculated based on the frame rate, the number of high priority RPDOs 42 each fieldbus device 20 receives, the number of low priority RPDOs 40 each fieldbus device 20 receives, and the associated minimum wait times. Specifically, the number of frames 44 in the superframe 46 defines the transmitting schedule of the RPDOs, and may be calculated by the following formula:
In the equation stated above, ns is the number of frames 44 in the superframe 46, dMinWait is the number of fieldbus devices 20 with low priority RPDOs 40 that share the same minimum wait time, pframe is the frame rate in ms, pMinWait is the minimum wait time of the low priority RPDOs 40 in ms, i is the number of different minimum wait times between each of the fieldbus devices 20, and LCM is the least common multiple of either pframe divided by pMinWait, or pframe divided by dMinWait.
A tick is a point in time in which the slices of the RPDOs 40 and 42 are transmitted. For example, in the embodiment as shown in
Turning now to
In yet another embodiment, an RPDO transmitting schedule with only low priority RPDOs and no high priority RPDOs may be employed as well. Turning now to
The scheduling algorithm output examples as illustrated in each of
While the invention has been described in detail in connection with only a limited number of embodiments, it should be readily understood that the invention is not limited to such disclosed embodiments. Rather, the invention can be modified to incorporate any number of variations, alterations, substitutions or equivalent arrangements not heretofore described, but which are commensurate with the spirit and scope of the invention. Additionally, while various embodiments of the invention have been described, it is to be understood that aspects of the invention may include only some of the described embodiments. Accordingly, the invention is not to be seen as limited by the foregoing description, but is only limited by the scope of the appended claims.
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