Abstract:
A system for automatically configuring I/O devices is provided in accordance with the present invention. The system includes a plurality of I/O devices operatively coupled to each other and a sub-system for determining physical locations of the I/O devices with respect to one another. The sub-system assigns node addresses to each I/O device—each assigned node address corresponds to the physical location of the respective I/O devices.

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
   This application is a divisional of U.S. patent application Ser. No. 09/546,089, filed Apr. 10, 2000, entitled “POINTBUS ARCHITECTURE AND AUTOMATIC SEQUENTIAL ADDRESSING”. The entirety of the aforementioned application is incorporated herein by reference. 

   TECHNICAL FIELD 
   The present invention relates generally to control systems, and more particularly to a system and method for providing a sequentially adaptable control system thereby mitigating system costs and configuration requirements. 
   BACKGROUND OF THE INVENTION 
   Control systems are at the core of modern manufacturing. These systems control diverse processes from steel and automotive products to mass distribution products associated with food and beverages, for example. In general, control systems require a processor and related program to direct a related system of Input/Output (I/O) interfaces (e.g., I/O modules) which in turn report and control industrial processes. I/O modules may be selected to perform digital style (e.g., 120V input/output) and/or analog style control (e.g., 4-20 ma input/output), for example. Also, generally associated with control systems are related racks, power supplies and control networks for housing, powering, and communicating with the associated I/O modules. 
   Over time, industrial system demands have steadily increased. For example, system demands for lower costs and increased flexibility are increasingly necessary for modern factories to compete on the global stage. Lower system costs provide manufacturers with a competitive advantage by realizing a better return on capital investments. Flexibility enables a manufacturer to respond to changing market dynamics as product and sales requirements change. Unfortunately, conventional systems many times are burdensome to install/upgrade and often require manufacturer&#39;s to install more system components than necessary. Thus, conventional systems generally do not provide the requisite flexibility and associated lower costs required by modern systems. 
   As an example of some of the problems associated with conventional systems, consider an initial system design requiring “X” number of associated I/O points. Often times, in order to minimize system costs, I/O points are selected for the smallest possible grouping to control a process. This grouping may likely include a rack to house the I/O, an interface module (e.g., communications/control module) to control and interact with the I/O, and associated power supply to power the system. If the system were designed initially to provide future expansion, empty rack positions and/or additional rack/power/interface components may then need to be maintained in order to provide for future system requirements. If the system were designed only for initial I/O requirements, additional racks, power supplies and interface modules are likely to be added to accommodate future requirements. In either case, system costs are initially higher to account for future expansion requirements, and/or higher in the future to add system requirements. Consequently, conventional systems generally require either higher initial and/or future costs in order to provide ever changing system capabilities. 
   Another problem associated with conventional systems is related to configuration requirements. Often, when systems are initially installed and/or upgraded, significant configurations are required to add additional I/O groupings. These requirements may include adding a rack number (e.g., number of a network adapter) to a network list, defining additional I/O requirements, programming additional memory to receive the I/O and potentially setting switches related thereto. Furthermore, system wiring such as communications and power cables generally increase. These additional steps will likely increase system installation and maintenance costs. 
   Due to cost and flexibility issues associated with conventional control systems, there is a strong need in the art for an improved system for mitigating system costs and providing a flexible and economical system for future expansion requirements. 
   SUMMARY OF THE INVENTION 
   The present invention relates to an improved system and method for providing a flexible and lower cost control system. Lower system costs and flexibility are provided by a sequentially adaptable system of associated modules wherein I/O may be incrementally added to a system. Sequential adaptability enables modules to communicate over a standard network interface without the need for an associated I/O rack and/or additional communications modules thereby mitigating system costs. Flexibility, cost, and configuration requirements are improved by enabling a manufacturer to initially install a precise amount of I/O, and subsequently add related modules to an existing set of operatively coupled modules. 
   More specifically, the present invention provides a PointBus architecture and addressing protocol to enable systems to be grouped according to more precise I/O requirements and to enable systems to be incrementally expanded without substantially increasing system costs. For example, a system may initially include a grouping of associated I/O modules. An additional I/O module may be added to, and automatically become part of the initial grouping merely by being placed in relation to the existing module set (e.g., to the right of the existing set) and becoming operatively coupled thereto. This may be achieved, for example, by enabling modules to fixably attach to a previous module and subsequently establish network communications. Thus, additional rack and communications requirements are mitigated. Communications may be achieved by providing a network interface (e.g., DeviceNet, EtherNet, ControlNet etc.) to communicate with the I/O modules. A protocol in accordance with the present invention may then be provided to sequentially enable subsequent modules to communicate with the network interface upon becoming attached thereto. 
   As described above, modules may become part of the control system in a sequential manner. Under initial power conditions, a first module may become initialized for network operations by receiving an input in accordance with the protocol described above. After network communications have been established for the first module, an output from the first module enables a second module to become network operational. In this manner, modules may be sequentially added to a system as requirements change. Thus, systems may be designed for both present and/or future expansion requirements in economical manner. 
   In accordance with one aspect of the present invention, a system is provided for automatically configuring I/O devices. The system includes a means for determining physical locations of the I/O devices with respect to one another, and a means for assigning node addresses to each I/O device, each assigned node address corresponds to the physical location of the respective I/O devices. 
   In accordance with another aspect of the present invention, a system is provided for automatically configuring I/O devices. The system includes: a plurality of I/O devices operatively coupled to each other; a sub-system for determining physical locations of the I/O devices with respect to one another, the sub-system assigns node addresses to each I/O device—each assigned node address corresponds to the physical location of the respective I/O devices. 
   According to yet another aspect of the present invention, a methodology is provided for automatically configuring I/O devices. The methodology includes determining physical locations of the I/O devices with respect to one another, and assigning node addresses to each I/O device wherein each assigned node address corresponds to the physical location of the respective I/O devices. 
   According to another aspect of the present invention, an adaptable control system is provided. The control system includes a physical media for providing communications to at least one I/O module, and a first protocol for enabling at least one I/O module to receive the network communications. A second protocol provides the network communications to the at least one I/O module. 
   Another aspect of the invention relates to a method for providing an adaptable control system. Network communications are received via an interface. At least one I/O module is sequentially enabled to receive the network communications from the interface; and at least one other I/O module is enabled to form an I/O group. 
   Yet another aspect of the invention relates to an adaptable control system, comprising: 
   means for receiving network communications; means for sequentially enabling at least one I/O module to receive the network communications; and means for enabling the at least one other I/O module to receive a network address after determining the network address for the at least one I/O module. 
   To the accomplishment of the foregoing and related ends, the invention then, comprises the features hereinafter fully described. The following description and the annexed drawings set forth in detail certain illustrative aspects of the invention. These aspects are indicative, however, of but a few of the various ways in which the principles of the invention may be employed and the present invention is intended to include all such aspects and their equivalents. Other advantages and novel features of the invention will become apparent from the following detailed description of the invention when considered in conjunction with the drawings. 

   
     BRIEF DESCRIPTION OF THE DRAWINGS 
       FIG. 1  is a schematic block diagram illustrating an adaptable control system in accordance with one aspect of the present invention; 
       FIG. 2   a  is a schematic block diagram illustrating an I/O module group in an adaptable control system in accordance with one aspect of the present invention; 
       FIG. 2   b  is a flow chart diagram illustrating a methodology for an adaptable control system in accordance with one aspect of the present invention; 
       FIG. 2   c  is a flow chart diagram illustrating a methodology for an adaptable control system in accordance with one other aspect of the present invention; 
       FIG. 3  is a schematic block diagram illustrating a pass-thru interface for an adaptable control system in accordance with one aspect of the present invention; 
       FIG. 4  is a schematic block diagram illustrating an adapter interface for an adaptable control system in accordance with one aspect of the present invention; 
       FIG. 5   a  is a schematic block diagram illustrating an adapter interface operation for an adaptable control system in accordance with one aspect of the present invention; 
       FIG. 5   b  is a flow chart diagram illustrating a methodology for an adapter operation in accordance with one aspect of the present invention; and 
       FIG. 6  is a schematic block diagram illustrating a protocol for an adaptable control system in accordance with one other aspect of the present invention. 
   

   DETAILED DESCRIPTION OF THE INVENTION 
   The present invention is now described with reference to the drawings, wherein like reference numerals are used to refer to like elements throughout. 
   In accordance with the present invention, a system and method provides an improved control system to enable a user to build a precise I/O system while mitigating the need to add racks, communications, and power supplies. This provides the user with a more granular I/O system while reducing node connection costs when additional I/O points are desired. As will be described in more detail below, a PointBus interface provides for an adaptable system wherein a standard network interface may be employed to communicate and control individual modules. 
   Referring initially to  FIG. 1 , an exemplary system  10  illustrates an aspect of a sequentially adaptable system in accordance with the present invention. The system  10  may include an interface  20  for communicating with a network  24 , and may include an adaptable number of I/O modules—I/O  1  through I/O N, (show as reference numerals  20   a - 20   c ) for example, for controlling system processes such as analog and discrete logic functions. A PointBus architecture  26 , which may include the network connection  24  and a bus  28 , enables modules to be sequentially powered and added to the system  10 . In this manner flexibility is increased and costs are reduced over conventional systems by enabling a user to specify a precise amount of I/O and flexibly increase/decrease the system  10  if future changes are required. 
   As illustrated in  FIG. 1 , modules may be added to and/or removed from the system  10  by slidingly engaging a first module with an existing module to build a desired system. For example, a first system may include the interface  20 , and at least one I/O module  20   a . In accordance with the present invention, modules may be adapted to provide grooves (not shown) for cooperative interengagement with related appendages (not shown) whereby the grooves of a first module may cooperatively interengage with corresponding appendages of an adjacent module—this provides for a suitably stable interconnection. A second I/O system may include positioning a third I/O module  20   b  in relation to the I/O module  20   a . This process may be repeated until a desired system has been determined which may include an Nth I/O module  20   c  (N being an integer). In this manner, a rack for positioning, powering and communicating to I/O modules is unnecessary. 
   After a desired module has been positioned, operative couplings are thereby established via the PointBus architecture  26 . The PointBus  26  provides a system wherein modules may be sequentially enabled (e.g., from left to right) from an adjacent module. For example, module  20   a  may be enabled from the interface  20 . Module  20   b  may then be subsequently enabled via module  20   a  and so forth. As will be described in more detail below, the bus  28  establishes automatic sequential addressing in accordance with the present invention wherein each module may first become configured on the network  24  and then subsequently enable a succeeding module to become network operational. 
   The PointBus architecture  26  utilizes a communication system  24  (e.g., DeviceNet, ControlNet) that may be employed to provide the exchange of data and messages between the interface  20  and I/O modules adapted thereto. The architecture  26  may also include: a physical media such as a printed circuit board within the I/O modules with associated copper tracework; metal connectors for PointBus communication between modules; field power distribution; data that may consist of embedded DeviceNet messages specification; a modification of the CAN (e.g., DeviceNet specific signals) Physical Signaling Layer to provide sequential addressing for modules to communicate with each other; and a set of Point I/O specific messages and services, described below. It is to be appreciated that although DeviceNet may be employed to provide system communications  24 , other communications systems such as EtherNet and/or ControlNet, for example, may be suitably adapted. 
   Referring now to  FIG. 2   a , a system  10   b  illustrates an exemplary PointBus architecture  26  in accordance with the present invention. The PointBus architecture  26  may consist of a plurality of signals, for example—two for system power, three for communications and two for field power. The signals may include: a Vcc  26   a , a ground  26   b  a CAN_H  26   c , and CAN_L  26   d  the bus  28 , and a V+ and COMMON for supplying field power to I/O modules. 
   The Vcc  26   a  and Ground  26   b  may supply power for the digital circuitry on associated I/O modules  20   a - 20   c , and the voltage may be a regulated 5 volts at  1 A, for example. The CAN_H  26   c  and CAN_L  26   d  may be connected to a DeviceNet transceiver chip, for example, (not shown) in each I/O module. The bus  28 , as shown in  FIG. 2   a , may be a daisy chained signal that facilitates the sequential order of module addresses as well as provide a mechanism to enable modules to exchange PointBus messages between modules as will be described in more detail below. 
   The bus  28  may function as an input line from a connector (not shown) found on the left side of the I/O modules  20   a - 20   c , and as an output line to a connector (not shown) on the right side of the modules. Messages may be passed sequentially from left to right, and it is generally assumed that the when a message is received by a module via the bus  28  that the signal originated from the module to the left. 
   In accordance with the present invention, the bus  28  may enable a single module at a time to communicate on the PointBus  26  during initial power up. When a module  20   a - 20   c  powers up, it may assert (e.g., pull high) a serial output (e.g., right) line  28   b . When a serial input (e.g., left) line  28   a  goes low, a module  20   a - 20   c  may be enabled to begin the process of obtaining a Node Address on the PointBus  26 . This may occur for example, when a module has successfully passed a Duplicate MAC ID check (e.g., DeviceNet command), thereafter, the module may then pull its output line  28   b  low. At power up, a module may assert its output line  28   b  as soon as possible. It then may wait about 1 second before examining its serial input line  28   a . If the serial line  28   a  is asserted high, there is an adjacent module (to the left) that is being configured. 
   The Field Power Bus, as described above, may consist of two conductors (+V and COMMON) with the following ratings: 
   
     
       
             
             
             
           
             
             
             
             
           
         
             
                 
                 
             
             
                 
               Voltage Range 
               Current 
             
             
                 
                 
             
           
           
             
                 
             
           
        
         
             
                 
               DC 
                5 to 125 Vdc 
               10 A 
             
             
                 
               AC 
               24 to 240 Vac 
               10 A 
             
             
                 
                 
             
           
        
       
     
   
   It is to be appreciated that other ratings may be selected. 
   I/O modules  20   a - 20   c  may support the DeviceNet Specification for layers  1 ,  2  and  7  (except for the Physical Layer), for example, and modules on PointBus architecture  26  may operate as a single DeviceNet node. It is to be appreciated that the I/O modules  20   a - 20   c  may include a processor  32  adapted to communicate with the PointBus architecture  26 . The processor  32  may be configured via an EEPROM (not shown), for example, and may include various other support circuitry such as RAM, timers and counters as is well understood in the art. 
   Turning now to  FIG. 2   b , a power-up process of a new I/O module is shown and illustrates one aspect of the present invention. A ‘new module’ may be defined as a module that has never been configured with a DeviceNet address, for example. Modules may be initially programmed with a Node Address of 63, for example, at the time of manufacture. It is to be appreciated that other node addresses may also be employed. 
   At step  100 , a module may assert its output line  28   b  within about 300 ms after power is applied. At step  104 , and after about 1 second, the input line  28   a  may be examined to check if the input  28   a  is asserted. If the input  28   a  is asserted, the module continues in idle and unconfigured mode and returns to step  104 . If the input  28   a  is not asserted the process proceeds to step  108 . 
   At step  108 , a Duplicate MAC ID broadcast is commenced. (e.g., Check Node 63). 
   At step  112 , if the Duplicate MAC ID Check is not successful, the process proceeds to step  116  and remains in a bus-off condition, continues to assert the output  28   b  and may wait for Group 4 messages. 
   If the Duplicate MAC ID was successful at step  112 , the process goes into a Standby State at step  120  and proceeds to Wait for MAC ID to be changed at step  120 . If the MAC ID has changed at step  120 , the process proceeds to step  124 . If the MAC ID has not changed at step  120 , the process proceeds back to step  120 . At step  124 , Duplicate MAC Check is performed on the new ID and the serial output  28   b  may be de-asserted. If Duplicate MAC ID is successful and no other configuration data are needed, the module becomes operational and may go to the on-line state on the PointBus  26 . 
   Referring now to  FIG. 2   c , a power-up process for a pre-configured module illustrates another aspect of the present invention. A ‘pre-configured module’ may have a Node Address other than 63. The module may have been assigned an address at least one time and its node address is no longer 63, for example. 
   At step  130 , a module may assert its output line  28   b  within about 300 ms after power is applied. At step  134 , and after about 1 second, the input line  28   a  may be examined to check if the input  28   a  is asserted. If the input  28   a  is asserted, the module continues in idle and unconfigured mode and returns to step  134 . If the input  28   a  is not asserted the process proceeds to step  138 . At step  138 , Duplicate MAC ID is checked for an assigned node (e.g., not 63). If the Duplicate MAC ID is not successful at step  138 , the process proceeds back to step  138  to check for MAC ID. If the check was successful at step  138 , the process proceeds to step  142 . At step  142 , output  28   b  is de-asserted. If Duplicate MAC ID was successful and no other configuration data are needed at step  142 , the module may become operational and may go to the on-line state on the PointBus  26 . 
   It is noted that, failing a Duplicate MAC ID does not effect the output line  28   b . It may still be pulled low, enabling a neighbor module. In unconfigured mode, however, if the module fails Duplicate MAC ID (e.g., someone else owns Node 63), the output line  28   b  may be held high. 
   After performing one of the above processes, a module may become an ‘on-line module’ and may operate on the PointBus  26 . If the input line  28   a  suddenly is asserted, a module&#39;s response may be to reflect the state on the output  28   b . Likewise, if the input line  28   a  goes low, a module&#39;s response may be to pull the output line  28   b  low. 
   Turning now to  FIG. 3 , the interface  20 , as illustrated in  FIG. 1 , in accordance with a particular aspect of the present invention is depicted. The interface  20  essentially performs a pass-thru of the network  24  and further provides an economical interface in accordance with the present invention. For example, the interface  20  may operate as a DeviceNet physical media converter. DeviceNet (e.g., round wire media) may be connected to a side of the interface  20  and PointBus connections (e.g., CAN lines— 26   c ′,  26   d ′) are made on the other side. A DC/DC converter is provided to produce 5 volts for the I/O modules. The interface  20  may also include a power monitor function (within the DC/DC converter  150 ) and a power protection function  154  along with the DC/DC converter  150 . 
   In accordance with the power monitor function, described above, the interface  20  may monitor a DeviceNet 24 VDC line  156 —if it drops below about 10 VDC, the DC/DC converter  150  may be turned off. Thus, if DeviceNet power  156  goes down, I/O modules are precluded from communicating over an invalid network. 
   In accordance with the power protection function  154 , described above, the interface  20  may be protected from reverse wiring at field power terminals  154   a  and  154   b . It is noted that the input voltage to the DC/DC converter is about 10 to 28.8 VDC, and the output may be regulated at about 5 VDC and 1 A. 
   I/O modules may be addressed by the interface  20  similar to DeviceNet modules. A master (not shown) may assign each module an address and provide configuration data. As shown, the interface  20  pulls the bus line  28  low. This will enable the first I/O module (e.g., to the right of the interface  20 ) to go on the DeviceNet network. If the module next to the interface  20  is already commissioned with a network ID, that module will pull its bus line  28  low. Therefore, in a configured system, each module may serially attach to the network, one-at-a-time, starting with the module next to the interface  20 . 
   If each module is ‘new’ (node addresses are set to 63), then the interface  20  will enable the first module. The first module may then broadcast its Duplicate MAC ID message (node 63) and wait for the message to be changed before enabling a neighbor module. Consequently, in an unconfigured system, a single module may be on the network at node 63 at one time. 
   Now referring to  FIG. 4 , an alternative aspect for the interface  20  is depicted. The interface  20  may function as an adapter  20 ′ and enables I/O modules to be presented to a host DeviceNet network as a single Node. As described above, the adapter  20 ′ may also include a power monitor function (within the DC/DC converter  150 ) and a power protection function  154  along with the DC/DC converter  150 . Furthermore, the adapter  20 ′ may include a processor  160  for buffering data from the Device network and presenting the data to the I/O modules as described below. 
   Referring now to  FIG. 5   a , a schematic block diagram illustrates the adapter  20 ′ operation in accordance with one particular aspect of the present invention. The adapter  20 ′ may act as an I/O scanner, pass unconnected messages (not shown) to the I/O modules and collect I/O data in a table  170 . When a host (not shown) desires to send configuration data to a node on the PointBus side (shown as DeviceBus  174 ) of the adapter  20 ′, the host may send a message  176  to an Offlink Connection Manger (OCM) Object  178 . The object may reformat the message  176  and pass it on to the I/O modules. Additionally, the adapter  20 ′ may queue up the messages  176  and keep track of time outs (not shown) and acknowledgements  180 . 
   The adapter  20 ′, when acting as a master, creates a node list  184  of all the slaves on the PointBus network. A user may prefer to have the node list  184  organized by physical location (e.g., the first node in the list is next to the adapter  20 ′, the second is next to the first, and so on). To make the node list  184 , the adapter  20 ′ will utilize the bus line  28  described above. 
   Turing now to  FIG. 5   b , an exemplary process for compiling the node list  184  is provided. 
   At step  200 , the adapter  20 ′ asserts its output line  28   b  within about 300 ms after power is applied. The adapter  20 ′ then begins to detect I/O modules at step  204 . At step  204 , the adapter  20 ′ may pull the output line  28   b  low. At step  208 , the first module next to the adapter  20 ′ may begin its Duplicate MAC ID Check. When a module starts its MAC ID check, it will pull its output line  28   b  low enabling the next module to start its Duplicate MAC ID check at step  212 . 
   At step  216 , if the MAC ID of the first module is not, for example, 63 then the node address will be added to the Node List  184  at step  220 . It is noted, if another module announces that an address has been taken, the adapter  20 ′ will know that a module exists at that location, but may have an error. If the MAC ID is 63 at step  216 , then the address needs to be reassigned at step  224 . The adapter  20 ′ may change the module network address to the next lowest unused address. At step  228 , the new address is added to the Node List  184 . The process continues to build the Node List  184  as described above until ‘all is quiet’ (no Duplicate MAC ID Checks) for about 2 seconds. 
   The node lists  184  that are created describe which I/O modules are connected to the adapter  20 ′ and is generally in the order—based on physical distance from the adapter  20 ′. 
   After the node list  184  has been constructed, if the adapter  20 ′ hears another Duplicate MAC ID check, it may then add this node to the bottom of an unordered DeviceNet Node List (not shown). 
   Referring now to  FIG. 6 , a PointBus  200  is described in accordance with an aspect of the present invention. The PointBus  200  describes an architecture wherein a point protocol  210  is generally provided to facilitate standard network communications via a sequentially ordered enablement process, as described above. A second protocol  220 , such as a DeviceNet protocol may be employed for network communications, for example, and is described below in accordance with one particular aspect of the present invention. It is to be appreciated, however, that other communications networks may be employed as described above. 
   In accordance with a DeviceNet protocol, for example, which is well understood in the art, the following attributes, services, and instance attributes may be employed to provide a network protocol  220  to associated I/O modules. 
   Class Attributes: May include the following DeviceNet definitions. 
                                                           Access       DeviceNet       Semantics       Num   Implementation   Rule   Name   Data Type   Description   of Values                   1   Required   Get   Revision   USINT   Revision of   The current value                           this object.   assigned to this attribute                               is two. If updates that                               require an increase in this                               value are made, then the                               value of this attribute                               may increase by one.                    
Class Services: May include the following DeviceNet definitions.
 
                                       Service   Imple-   Service   Service       Code   mentation   Name   Description                   0E hex     Required   Get_Attribute_Single   Used to read a PointBus                   Class attribute value.                   This service may be                   required to be supported if                   any of the PointBus Class                   attributes are supported.                    
Instance Attributes: May include the following DeviceNet definitions.
 
   
     
       
             
             
             
             
             
             
             
           
         
             
                 
             
             
                 
                 
               Access 
                 
               DeviceNet 
                 
               Semantics 
             
             
               ID 
               Implementation 
               Rule 
               Name 
               Data Type 
               Description 
               of Values 
             
             
                 
             
           
           
             
               0x01 
               Required 
               Set 
               DupMAC Request 
               BOOL 
               Modules sequently transmit 
               See “Semantics” 
             
             
                 
                 
                 
                 
                 
               single DupMAC request 
               section 
             
             
                 
                 
                 
                 
                 
               message. 
             
             
               0x02 
               Required 
               Set 
               Quick Connect 
               USBYTE 
               Set Quick Connect option for 
               See “Semantics” 
             
             
                 
                 
                 
                 
                 
               multiple nodes. 
               section 
             
             
               0x03 
               Conditional 2   
               Set 
               IO Module Auto- 
               BOOL 
               Automatically re-address 
               See “Semantics” 
             
             
                 
                 
                 
               Address 
                 
               neighboring PointIO modules. 
               section 
             
             
               0x04 
               Conditional 1   
               Set 
               Adapter Auto- 
               USBYTE 
               Automatically re-address 
               See “Semantics” 
             
             
                 
                 
                 
               Address 
                 
               neighboring PointIO modules. 
               section 
             
             
               0x05 
               Required 
               Set 
               Baud Rate 
               USBYTE 
               Set baud rate for multiple nodes. 
               See “Semantics” 
             
             
                 
                 
                 
                 
                 
                 
               section 
             
             
               0x06 
               Required 
               Set 
               Auto Baud Disable 
               USBYTE 
               Set Autobaud mode for multiple 
               See “Semantics” 
             
             
                 
                 
                 
                 
                 
               nodes. 
               section 
             
             
               0x07 
               Conditional 1   
               Get 
               Physical Order List 
               SHORT_STRING 
               Current list of nodes attached to 
               See “Semantics” 
             
             
                 
                 
                 
                 
                 
               ADN, ordered by physical 
               section 
             
             
                 
                 
                 
                 
                 
               location. 
             
             
               0x08 
               Conditional 1   
               Get 
               Physical List 
               USBYTE 
               Status of last physically ordered 
               See “Semantics” 
             
             
                 
                 
                 
               Acquire Status 
                 
               list acquisition started by ADN. 
               section 
             
             
               0x09 
               Conditional 1   
               Get 
               Physical Order 
               USBYTE 
               MACID of first failure in 
               See “Semantics” 
             
             
                 
                 
                 
               Failed Node 
                 
               system. 
               section 
             
             
               0x0A 
               Conditional 2   
               Get 
               GMM_Config_1 
               SHORT_STRING 
               Configuration Assembly for 
               See “Semantics” 
             
             
                 
                 
                 
               Assembly 
                 
               Generic Master Mode. 
               section 
             
             
               0x0B 
               Conditional 2   
               Get 
               GMM Channel 
               STRING/ 
               Generic Master can collect 
               See “Semantics” 
             
             
                 
                 
                 
               Status 
               BYTE 
               channel status 
               section 
             
             
               0xEE 
               Optional 
               Set 
               Reset EEPROM 
               BOOL 
               Neighboring module&#39;s 
               See “Semantics” 
             
             
                 
                 
                 
                 
                 
               EEPROM is reset 
               section must be in 
             
             
                 
                 
                 
                 
                 
                 
               power-up fail 
             
             
                 
             
             
                 1 Attributes 4, 7, 8 and 9 may be supported by Adapter modules. 
             
             
                 2 Attributes 3 and 10 may be supported by I/O modules. 
             
           
        
       
     
   
   Below is a semantic definition from the table provided above. 
   DupMAC Request (Attribute 1) 
   Values of 0 or 1 are valid for the SET_SINGLE service. A value of 0 results in no action taken by the node. A value of 1 causes a DupMAC Request Message to be transmitted before a 16-bit value is transmitted on the bus line  28  to the next IO module. This feature may be utilized to determine the ordering of nodes currently present on the PointBus  26 . 
   A value of 0 is returned by I/O modules for GET_SINGLE requests. 
                               Data   Action                   0   Do Nothing       1   Transmit DupMAC Request           Message - broadcast                    
Quick Connect (Attribute 2)
 
   Values of 0, 1, or 2 are valid for the SET_SINGLE service. A value of 0 results in no action taken by the module. A value of 2 enables the Quick Connect feature for the receiving node and nodes to the right of the module, while a value of 1 disables the feature. 
   
     
       
             
             
           
         
             
                 
             
             
               Data 
               Action 
             
             
                 
             
           
           
             
               0 
               Do Nothing 
             
             
               1 
               Disable Quick Connect - broadcast 
             
             
               2 
               Enable Quick Connect - broadcast 
             
             
                 
             
           
        
       
     
   
   A value of 0 is returned by I/O modules for GET_SINGLE requests. 
   I/O Module Autoaddress (Attribute 3) 
   Values of 0 or 1 are valid for the SET_SINGLE service. If the module has I/O connections allocated that are not in the IDLE state, an INVALID_SERVICE_FOR-OBJECT_STATE error message is returned. A value of 0 results in no action taken by the node. A value of 1 causes a 16-bit value to be transmitted on the bus line  28  to the next IO module. Within the 16-bit value is a field indicating the sender&#39;s MAC ID plus one. The receiving module may then change its MAC ID to be that which was received, and then inform its neighbor of its new MAC ID, before resetting itself. 
   A value of 0 is returned for GET_SINGLE requests. 
   Adapter Autoaddress (Attribute 4) 
   Values of 0 to 63 are valid for the SET_SINGLE service. If an Adapter has PointBus I/O connections allocated that are not in the IDLE state, an INVALID_SERVICE_FOR-OBJECT_STATE error message is returned. The received MAC ID value is then transmitted on the bus line  28  to the next I/O module. Within the 16-bit value is a field indicating the sender&#39;s MAC ID. The Autoaddressing function propagates itself until the rightmost I/O module has been reached. 
   A value of 0 is returned for GET_SINGLE requests. 
   Baud Rate (Attribute 5) 
   The values for this attribute are different for Adapters and I/O modules: Values of 0 through 3 are valid for SET_SINGLE service for both Adapters and I/O modules. Values 1, 2, and 3 correspond with baud rates 125K, 250K and 500K, respectively. A value of 0 results in no action taken by the node. As with the setting of the DeviceNet Objects&#39;BAUD RATE attribute, a module reset does not occur automatically after performing a SET_SINGLE service to this attribute. An additional value of 0xAB may be accepted by the Adapter, representing a baud rate of 1 Megabaud on the PointBus  26 . After accepting the value 0xAB, the Adapter may inform the I/O modules to enable autobaud via the bus  28 . An I/O module may reject the value 0xAB with the error code INVALID_ATTRIBUTE_VALUE. Although the I/O modules are capable of communicating over CAN lines at 1 Megabaud, due to ODVA compliancy reasons this baud directly settable. 
   
     
       
             
             
           
         
             
                 
             
             
               Data 
               Action 
             
             
                 
             
           
           
             
               0 
               Do Nothing 
             
             
               1 
               125k - broadcast 
             
             
               2 
               250k - broadcast 
             
             
               3 
               500k - broadcast 
             
             
               0xAB 
               1M -broadcast (adapters) 
             
             
                 
             
           
        
       
     
   
   If the module has any I/O connections allocated that are not in the IDLE state, an INVALID_SERVICE_FOR_OBJECT_STATE error message is returned. A value of 0 is returned for GET_SINGLE requests. 
   Auto Baud Disable (Attribute 6) 
   Values of 0, 1, or 2 are valid for the SET_SINGLE service. A value of 1 disables the Auto Baud feature for the receiving node and nodes to the right of the receiving node, while a value of 2 enables the feature. 
   
     
       
             
             
           
         
             
                 
             
             
               Data 
               Action 
             
             
                 
             
           
           
             
               0 
               Do Nothing 
             
             
               1 
               Disable Auto Baud 
             
             
               2 
               Enable Auto Baud 
             
             
                 
             
           
        
       
     
   
   A value of 0 is returned for GET_SINGLE requests. 
   Physical Order List (Attribute 7) 
   This list represents a user-approved ordering of I/O modules presently defined to be found on a given I/O system. Note that only the order of the modules is represented, not the actual location of each module. The list may be stored in non-volatile memory. After the initial device initialization phase, which occurs after power-up, the Adapter may verify the physical ordering of the present devices. 
   Physical List Acquire Status (Attribute 8) 
   The following values may be returned for GET_SINGLE requests: 
                                   Value   Name   Description                   0   IDLE   No acquisitions are in process and no list is               available.       1   BUSY   Adapter in process of acquiring a physical               order list.       2   DONE   Adapter is finished acquiring a physical               order list.       3   DONE_FAIL   Adapter finished acquiring list with failed               node.                    
Physical Order Failed Node (Attribute 9)
 
   This value indicates which physical location has been detected as having a failure. When a failure has been detected, the Adapter may periodically recheck the system until the problem has been corrected. A value of 0xFF indicates that currently no physical ordering failures are observed within the system. 
   GMM_Config — 1 Assembly (Attribute 10) 
   This attribute provides a method for a non-DeviceNet adapter to configure an I/O module. A block of configuration data sent to the Adapter by its host may be sent along to the I/O module without any knowledge of the contents or format of the data. 
   GMM Channel Status (Attribute 11) 
   The data field in the SET_SINGLE request message defines which data is returned in the response. If data field length is zero, the Point Channel Status block is returned. Each bit represents one channel. The message is as long as required to transmit one bit per channel. If a bit is set, an error may exist in that channel. 
   
     
       
             
             
             
             
           
             
             
             
             
             
             
           
             
             
             
             
             
             
             
             
             
           
         
             
                 
             
           
           
             
               Unused 
               1 
               0 
               2 Channels - 1 byte long 
             
           
        
         
             
               Unused 
               3 
               2 
               1 
               0 
               4 Channels - 1 byte long 
             
           
        
         
             
                7 
                6 
                5 
                4 
                3 
                2 
               1 
               0 
               16 Channels - 2 bytes long 
             
             
               15 
               14 
               13 
               12 
               11 
               10 
               9 
               8 
             
             
                 
             
           
        
       
     
   
   If there is a channel error, this bit will be set. To find the error code for a channel, the adapter may query the Channel Status Word (see below). When the channel status is read, a New Channel Status (NCS) in a Point Status Byte (a byte added to the end of each produced I/O message when in GMM described below) may be cleared until a channel&#39;s error status changes. 
   To obtain the Channel Status Word, the channel number may be included in the data field. The message returned is one word containing the error code for the channel. 
   The word may be defined as: 
                                                                                                                       Bit 7   Bit 6   Bit 5   Bit 4   Bit 3   Bit 2   Bit 1   Bit 0                    Channel               Direction   Reserved   Channel Number            Channel Type   Error Code                        Channel   0   Output           Direction   1   Input           Channel Type   001   1 bit               010   2 bit               011   4 bit               100   1 byte               101   1 word               110   2 words           Error Code   0   No Error               1   Short Circuit               2   Under Voltage               3   Over Voltage               4   Overload               5   Over Temperature               6   Wire Break               7   Upper Limit Exceeded               8   Lower Limit Exceeded               9   General Error               10   Configuration Error                    11-31   Underfined                       Note:           Attempting to read a CSW that does not exist may result in an error message (object state conflict).            
Reset EEPROM (Attribute 0xEE)
 
   When this data field is set to 1 (0 may be ignored), the module may send a Reset EEPROM command along the serial line. Only the neighbor module may reset the EEPROM, not the module receiving the message. The neighbor does not re-transmit the Reset EEPROM message along the serial line. 
   A value of 0 is always returned by a GET_SINGLE request. 
   1.5 Instance Services 
   
     
       
             
             
             
             
           
         
             
                 
             
             
               Service 
               Imple- 
               Service 
               Service 
             
             
               Code 
               mentation 
               Name 
               Description 
             
             
                 
             
           
           
             
               05 hex   
               Required 
               Reset 
               Used to simulate a power 
             
             
                 
                 
                 
               cycle by the received 
             
             
                 
                 
                 
               node. Before resetting, 
             
             
                 
                 
                 
               the node passes a reset 
             
             
                 
                 
                 
               message to its neighbor, 
             
             
                 
                 
                 
               which will do likewise. 
             
             
                 
                 
                 
               Can be used to 
             
             
                 
                 
                 
               reset an entire PointIO 
             
             
                 
                 
                 
               system with one 
             
             
                 
                 
                 
               DeviceNet/PointBus 
             
             
                 
                 
                 
               message. 
             
             
                 
                 
                 
               0 = soft reset (or no 
             
             
                 
                 
                 
               data field) 
             
             
                 
                 
                 
               1 = Out-o-Box Reset 
             
             
               0E hex   
               Conditional 
               Get_Attribute_Single 
               Returns the contents 
             
             
                 
                 
                 
               of the specified attribute. 
             
             
               10 hex   
               Conditional 
               Set_Attribute_Single 
               Modifies an attribute. 
             
             
                 
             
           
        
       
     
   
   The point protocol  210  described above in relation to  FIG. 6 , will now be described in more detail in accordance with one particular aspect of the present invention. At startup, and after initializing the microprocessor  30 , each module sets its output  25   b  high, the level of which may be read by the next module. After an LED startup sequence is finished (greater than or equal to about 1 second—depending on the module), each module waits until the input pin  28   a  level goes low. This indicates that the module is now permitted to send out its first DupMAC message (another message may follow about 1 second later). After its first DupMAC message has been transmitted onto DeviceNet, the module then sets its output  28   b  low, enabling its neighbor to also send DupMAC messages. This process continues until each I/O module has transmitted its first DupMAC message. 
   If a message is received requesting a configuration change, the module may ignore the request and not propagate it to its neighbor if the module has any I/O connections that are not in an IDLE state. Before initiating a request with the point protocol  210 , the user/operator may take steps to ensure that the proper nodes will be able to complete the operation. 
   The following packet may transmitted in a bitwise fashion over the output pin  28   b  (e.g., Sync Bit may be transmitted first): 
                                                                              
Point Protocol Packet
 
   Explanation of Bit Fields 
                                   Sync Bit   This bit signals the neighboring module that a command is           being transmitted.       Size Bit   This bit specifies whether the packet length is 16 or           32 bits in length. A value of 0 indicates a length of 16.           Currently no messages requiring a 32-bit packet have been           identified. The format of the additional 16 bits is command           specific.       Command   Command issued.       Data   Command-specific data.       CRC   3-bit CRC = inverse of remainder of division of 12-bit           quantity of Size/Command/Data fields by 8.                    
Bit Transmission Timing
 
   I/O modules may include a 1 ms timer interrupt. Within the associated interrupt service routine (ISR), any transmission or reception of bits via the output  28   b  and input  28   a  may occur. As a module&#39;s timer ISR may be up to about 1 ms out of phase with its neighbor&#39;s, the following process may be implemented. 
   Each bit may be transmitted 3 times by the ISR, resulting in each bit having about 3 ms on the wire. When a module first detects that a bus packet is being transmitted by its neighbor (by sensing a high level on the input  28   a ), it may wait for the next interrupt and then begin the process of storing 16 bits received every third interrupt. This substantially guarantees that the value read will be within the middle third of each bit&#39;s transmission time. After all 16 bits have been sampled and stored, both the Sync and CRC fields are verified, and the Size bit is checked to determine if 16 additional bits are to be sampled. If all tests pass, the Command and MAC ID fields may then be processed. Bits may be left-shifted onto the bus  28  by the transmitting module. The received (sampled) message may be disqualified and ignored if it fails the CRC test. 
   The following table indicates the commands currently supported. It is assumed that the Size Bit=0. 
   
     
       
             
           
             
             
             
             
           
         
             
                 
             
             
               Commands Supported 
             
           
        
         
             
               Command 
                 
                 
                 
             
             
               Code 
               Command Name 
               Description 
               Data Field 
             
             
                 
             
             
               0 
               Generic Broadcast 
               Evokes behavior or changes 
               0x00 - Transmit one DupMAC request message. 
             
             
                 
                 
               configuration for each module. 
               0x01 - Reset. Emulate power cycle. 
             
             
                 
                 
                 
               0x02 - Baud Rate = 125K 
             
             
                 
                 
                 
               0x03 - Baud Rate = 250K 
             
             
                 
                 
                 
               0x04 - Baud Rate = 500K 
             
             
                 
                 
                 
               0x05 - Turn off Autobaud 
             
             
                 
                 
                 
               0x06 - Turn on Autobaud 
             
             
                 
                 
                 
               0x07 - Turn off Quick Connect feature. 
             
             
                 
                 
                 
               0x08 - Turn on Quick Connect feature. 
             
             
                 
                 
                 
               0x09 - Out-o-Box Reset 
             
             
                 
                 
                 
               0x10 - Reset EEPROM Checksum 
             
             
               1 
               Autoaddress 
               Automatically assign node 
               New MAC ID for PointIO module. Each module 
             
             
                 
                 
               addresses increasing from left to 
               must add one to received MAC ID, and transmit 
             
             
                 
                 
               right. 
               message to its neighbor. 
             
             
               5 
               Generic Master 
               Automatically assign node 
               New MAC ID for PointIO module. Each module 
             
             
                 
               Mode 
               addresses increasing from left to 
               must add one to received MAC ID, and transmit 
             
             
                 
                 
               right, while also causing each 
               message to its neighbor. 
             
             
                 
                 
               module&#39;s behavior to change to 
             
             
                 
                 
               accommodate a non-DeviceNet 
             
             
                 
                 
               adapter. 
             
             
                 
             
           
        
       
     
   
   If a message is received requesting a change in MAC ID and/or baud rate behavior, the module may ignore the request and not propagate it to its neighbor if the module has any I/O connections that are not in IDLE state. 
   Reset EEPROM Checksum 
   If a module fails power-up (possibly due to an EEPROM Checksum mismatch) the checksum may be re-computed. The message will not be transmitted to the neighbor. 
   Generic Master (GM) Mode 
   Generic Master (GM) Mode, which is applicable to I/O modules, enables a group of I/O modules to present I/O data in a uniform format to an adapter. This mode may be utilized when the adapter is providing connectivity to a network that is not a core control network such as DeviceNet and ControlNet. Upon entering this mode, each I/O module may present its I/O data in a consistent fashion, with a final byte of data representing module status information, referred to as the Point Status Byte (PSB). By examining this byte, the adapter may compile status information about the module by reading the GMM Channel Status. 
   Generic Master Mode may be entered when the SET_SINGLE service for attribute GMM_Config — 1_Assembly. In other words, if an I/O module has no configuration data, the adapter may send the SET_SINGLE service for attribute GMM_Config — 1_Assembly of the PointBus object. 
   Upon receiving the Generic Master Mode on the input  28   a , each module may execute the following process:
         The module begins shifting out an updated Generic Master Mode command to its immediate neighbor.   The MAC ID received in the Generic Master Mode command is compared with the current MAC ID. If it is different, the new MAC ID may be written to non-volatile memory, and the module may be reset after the Generic Master Mode command has been transmitted.   If the module is not already configured for Quick Connect mode, a suitable value may be written to non-volatile memory. A mismatch will not cause a reset for the current power-up sequence.   The current DeviceNet baud rate may be set to 1 Mbaud.   The Autobaud_Disable value in non-volatile storage may reflect that the Autobaud feature is disabled, if not so already.       

   Upon receiving the SET_SINGLE service for attribute GMM_Config — 1_Assembly attribute, each module&#39;s application objects may reset all device-specific configurable features before setting those specified in a data portion of the message. 
   In Generic Master Mode, appended to the end of each produced message may be the Point Status Byte. The PSB is defined as: 
   
     
       
             
             
             
           
             
             
           
         
             
                 
             
           
           
             
               Reserved 
               NCS 
               EB 
             
             
                 
             
           
        
         
             
               EB 
               Error Bit 
             
             
                 
               When set, an error exits. 
             
             
               NCS 
               New Channel Status 
             
             
                 
               The bit may be set when a channel&#39;s error status has changed. 
             
             
                 
               Either a new error has been detected or an existing error 
             
             
                 
               has cleared. 
             
             
                 
               The bit may be cleared when the Point Channel Status block has 
             
             
                 
               been read. 
             
           
        
       
     
   
   What has been described above are preferred aspects of the present invention. It is, of course, not possible to describe every conceivable combination of components or methodologies for purposes of describing the present invention, but one of ordinary skill in the art will recognize that many further combinations and permutations of the present invention are possible. Accordingly, the present invention is intended to embrace all such alterations, modifications and variations that fall within the spirit and scope of the appended claims.