Patent Description:
A modular controller system for automation often includes a master module and several slave modules. In the present disclosure, the term "module" may be used as a general term encompassing both the master module and the slave modules. The modules are typically connected by bus cables of the network and communicate via the network in operation. This allows the modules to work together.

For proper target-oriented communication in the network, the slave modules must have individual network "addresses". Each slave module must be individually registered within the network with an individual network identifier (network ID).

In a typical fieldbus network, the modules are connected to the network in parallel. It is not possible to determine a physical or logic position of the individual slave module automatically. Therefore, the slave modules are normally configured upfront in a manual way. This is done by manually assigning, respectively to each of the slave modules, a unique network ID. The network ID identifies the individual slave module and enables it to participate in the network communication. Furthermore, fieldbus terminations must be manually placed or configured at the physical beginning and the physical end of the fieldbus. One end of the fieldbus is typically terminated by the master module. The other end is typically terminated by the slave module that is positioned the furthest away from the master module.

The manual configuration of the network requires time and hence produces costs. Apart from that, it is prone to human errors.

Another approach used is the so-called "daisy chaining" of the modules. In a daisy chain, the modules are connected in series by the network, in more detail in a sequence with point-to-point physical network connections between consecutive modules. With this, the physical/logic position of the modules in the daisy chain can be determined by the controller system itself. However, compared to a typical fieldbus, such a daisy chain network is in general significantly less efficient with regard to costs and/or performance.

<CIT> discloses a method for detecting the position of slave devices in a series connection starting from a master device.

Further, an enumeration method for master/slaver enumeration technique is known from <CIT>.

The problem underlying the invention is to facilitate the commissioning of a modular controller system using a cost-efficient and performant network.

This problem is solved by a slave module according to claim <NUM>. Preferred embodiments are described in the dependent claims.

The slave module is for a modular controller system employing an industrial network for communication within the controller system, the modular controller system comprising a master module.

The slave module comprises a processing unit and a network adapter for the network, wherein the network adapter is operatively coupled to the processing unit.

The slave module includes a separate status input connector coupled to the processing unit and a separate status output connector coupled to the processing unit. In other words, the status input connector and the status output connector are provided in addition to the network adapter.

The processing unit is capable of sensing a voltage applied at the status input connector with respect to an electric reference potential and to apply a trigger voltage at the status output connector with respect to the reference potential.

The slave module is configured to, in an enumeration state,.

The slave module facilitates the commissioning of the modular controller system. The status output connector is connectable to the status input connector of a congeneric slave module. Vice versa, the status input connector is connectable to the status output connector of another congeneric slave module. The registration cycle for the individual slave module automatically starts by sensing the trigger voltage at its status input connector. The registration response from the master modules shows that the master module acknowledged and registered the slave modules as new member of the network. The automatic application of the trigger voltage at the status output connector can be used to trigger a congeneric previous slave module to automatically start its individual registration cycle with the master module.

The term "congeneric" may mean that the respective slave modules are in accordance with any embodiment described herein. Especially, the congeneric slave module may be of the structure and/or exhibit the functionalities as defined in any one of the claims. In particular, a congeneric slave module may be any slave module that exhibits the same structure and/or exhibits the same functionalities as the (present) slave module. Naturally, the term "congeneric" includes the case that the slave modules are identical.

The term "module" may encompass e.g. electronic controller modules, power supply modules, input-output modules (I/O modules), and alike.

The slave module may comprise at least one input and/or output connector (I/O connector). Especially, the slave module may comprise several (additional) I/O connectors.

In one embodiment, the slave module is connectable - e.g. by the I/O connector(s) - to at least one sensor, e.g. to a temperature sensor, a fluid flow sensor, a pressure sensor, a humidity sensor, and/or a dew point sensor.

Additionally or alternatively, the slave module may be configured to provide control signals for controlling operational components (e.g. actuators, valves, fans, compressors, heat exchangers, fluid flow mixers, and the like), for example based on information received from the sensor(s) and/or instructions received from the network (e.g. from the master module). The control signals may be outputted by the I/O connector(s).

The master module of the controller systems may be further configured to emit an initialization broadcast via the network.

In one embodiment, the slave module is configured to, in an incipient state,.

This ensures that the slave module does not apply the trigger voltage at its status output connector before it has received the initialization broadcast.

The slave module may be configured to be in the incipient state directly upon powering up. For example, the incipient state may be the first functional state after power supply to the slave module has started.

In one embodiment, the slave module is configured to apply, in the incipient state and the enumeration state, an idle voltage, which is different from the trigger voltage, at its status output connector with respect to the reference potential until it applies the trigger voltage at the status output connector in the enumeration state by means of the processing unit.

If the status output connector is electrically connected to the status input connector of the master module, the master module can determine that at least one slave module is present by sensing the idle voltage before it has emitted the initialization broadcast. If the status output connector is electrically connected to the status input connector of an (e.g. congeneric) previous slave module, the previous slave module can sense the idle voltage in the incipient state (e.g. by its processing unit) and conclude that it is not a furthest ("last") slave module. In the enumeration state, the previous slave module detects, by sensing the idle voltage, that it is not yet the turn for sending its own presentation message.

The slave module can include an activatable network terminator for terminating the network at the slave module (when the network terminator is activated),
wherein the slave module is configured to, in the incipient state,.

Hence, the network is automatically terminated at the furthest slave module but not terminated at any other of the slave modules.

The voltage at the status input connector (e.g. corresponding to the idle voltage or the second voltage depending on the situation), may be a difference between an electric potential at the status input connector and the reference potential. Additionally or alternatively, the voltage at the status output connector, (e.g. corresponding to the trigger voltage or the second voltage depending on the situation) may be a difference between an electric potential at the status output connector and the reference potential.

According to another aspect, an absolute value of the idle voltage is <NUM>,<NUM> V at the maximum. This allows to set the idle voltage in a simple and cost-efficient manner, e.g. by a pull-down discharger, which is connected to the reference potential.

The processing unit may include (especially consist of) a microcontroller unit (MCU). The processing unit/MCU may comprise at least one processer.

In one embodiment, the slave module comprises a trigger output of the processing unit, which is connected to the status output connector for applying the trigger voltage.

Additionally or alternatively, the slave module may comprise an electrical reference potential applicator, e.g. a pull-down discharger, which is electrically connected to the status output connector for applying the reference potential to the output connector when the trigger voltage is not applied by the processing unit. This is a simple and cost-efficient implementation for applying the idle voltage. The electrical potential applicator may be connected to the status output connector in parallel to the trigger output.

According to a further aspect, the slave module may comprise an electrical second potential applicator, e.g. a pull-up supply, which is electrically connected with the status input connector for applying a second voltage with respect to the reference potential to the status input connector. This is useful to set the voltage at the status input connector to a voltage different from the idle voltage when the status input connector is unconnected. This allows detecting that the slave module is the furthest slave module by sensing, in the incipient state, the second voltage at the status input connector.

The reference potential applicator may be is stronger than the second potential applicator. In other words, if the status output connector of the slave module is electrically connected to the status input connector of a previous slave module or the master module, the voltage at said status input connector is drawn to the idle voltage (at least as the slave module does not apply the trigger voltage).

Additionally or alternatively, the trigger condition output is stronger than the reference potential applicator (and hence also than the second potential applicator). This allows to selectively apply the trigger voltage.

The second voltage may be at least substantially the same as the trigger voltage and/or as a supply voltage. In particular, it may be identical to the trigger voltage.

The slave module can be configured to automatically enter the incipient state upon powering up. The eases the automatic registration of the slave modules with the master modules upon powering up.

The network can be a fieldbus, for example a CAN bus. In one embodiment, the network adapter is a corresponding fieldbus adapter. The CAN bus is a cost-efficient, reliable, and sufficiently fast network. Furthermore, it offers a multimaster feature.

In one embodiment, the slave module comprises a mounting fixture for mounting the slave module on a mounting rail. The rail may be a standardized equipment rail, e.g. a rail as defined in DIN EN <NUM>. The slave module may be configured to use an electric potential of the rail as the reference potential.

The electric reference potential may be an electric ground potential. Several slave modules and/or the master module may be configured to a common electric ground potential, e.g. the electric potential of the same rail.

The trigger voltage may be pre-determined.

A pre-determined absolute value of the trigger voltage may be at least <NUM> V, for example at least <NUM>,<NUM> V. Additionally or alternatively, the absolute value of the trigger voltage may be <NUM> V at the maximum, for example <NUM> V at the maximum. The trigger voltage may be positive or negative.

An acceptable variation of the trigger voltage around the pre-determined absolute value may be <NUM> % of the pre-determined absolute value, for example <NUM> %.

In one embodiment, the slave module is configured to, in the enumeration state,.

The problem mentioned above is further solved by a controller system for employing an industrial network for communication within the controller system, wherein the controller system comprises a master module and at least one, for example at least two slave modules according to the present invention.

The modifications and advantages described with regard to the slave module apply to the controller system accordingly, and vice versa.

In one embodiment, the master module includes.

The master module and the slave module(s) may be connected via the network.

Additionally, the status input connector of the master module can be electrically connected to the status output connector of a first slave module of the slave modules.

The (at least two) slave modules can be additionally connected in series by electrically connecting, respectively for subsequent slave modules, the status input connector of the respective slave module to the status output connector of a following slave module.

The master module may comprise a mounting fixture for mounting the slave module on the mounting rail. The master module may be configured to use the electric potential of the rail as the reference potential.

The master module may comprise an external network adapter for connection with an external network, which is different from the industrial network employed for communication within the controller system. The external network may be an ethernet network or another fieldbus. The external network adapter may include a cable terminal, e.g. an external ethernet connector and/or an external bus connector, or a hardware port, e.g. an RJ-<NUM> port.

The modular controller system may be an automation controller system, e.g. for controlling climate systems, parts thereof (including air condition systems and/or refrigeration systems), and/or industrial installations, for example production facilities.

The controller system can be configured to control components like actuators, compressors, valves, fans, robots, and alike, e.g. within an automated system. The modules may be configured accordingly.

The system may include at least one mounting rail for mounting the master module and several of the slave modules (for example, all of them) together on the mounting rail. In operation, the master module and said several slave modules may be mounted side by side on the mounting rail.

The master module may comprise a power supply unit, e.g. an electric transformation and/or rectifier, for connection with an external power source.

According to one aspect, the master module comprises an electric power output for supplying electric power to at least the first slave module. Accordingly, the first slave module does not need a separate power supply unit.

Each slave module may include an electric power input for connection with the electric power output of the master module or the previous slave module. Each slave module can include a corresponding electric power output. Hence, electric power supplied by the master module can be forwarded through several slave modules in series.

The problem mentioned above is further solved by a method according to claim <NUM>.

The modifications and advantages described with regard to the slave module and/or the controller system apply to the method accordingly, and vice versa. The controller system and the slave module may be configured for performing the method. Vice versa, the method may employ the disclosed slave module, master module, and/or controller system.

It is a method for starting the iterative registration of slave modules of a modular controller system (the controller system having a master module and the controller system employing an industrial network for communication within the controller system) with the registration of a furthest slave module of the slave modules, wherein each of the slave modules and the master module respectively comprise a processing unit and a network adapter for the network coupled to the processing unit. Each slave module may be provided, in addition to its network adapter, with a status input connector coupled to the processor unit and a status output connector coupled to the processor unit. The slave modules may be connected in series in that, respectively for subsequent slave modules, the status input connector of the slave module is electrically connected to the status output connector of the following slave module.

The method facilitates the commissioning of the modular controller system. It exhibits automatic determination of the furthest slave module and starting the individual registration of the slave modules with the furthest slave module. Furthermore, it allows for automatic triggering of the second-furthest slave module in the series of consecutively arrange slave modules.

The method may include at least one of, several of, or all of the following steps:.

According to one aspect, each of the slave modules may be in accordance with any of the embodiments described. The controller system may be in accordance with any of the embodiments described.

According to one aspect, the method may include iteratively repeating in the enumeration state, respectively for each of the remaining slave module(s):.

Hence, the individual slave modules are included iteratively, cycle by cycle, starting with the furthest slave module and ending with the first slave module next to the master module.

The method may include that the furthest slave module independently automatically activates, upon detecting that its status input connector is not connected to the status output connector of any other of the slave modules, a network terminator thereof for physical termination the network at the furthest slave module.

According to another aspect, the method can further include:.

Additional features, advantages and possible applications of the invention result from the following description of exemplary embodiments and the drawings. All the features described and/or illustrated graphically here form the subject matter of the invention, either alone or in any desired combination, regardless of how they are combined in the claims or in their references back to preceding claims.

Preferred embodiments of the invention will now be described with reference to the drawings, in which:.

<FIG> shows a modular controller system <NUM> including a master module <NUM> and several slave modules <NUM>.

All modules <NUM>, <NUM> are connected via an industrial network <NUM>. The industrial network <NUM> can be a fieldbus, for example a Controller Area Network (CAN) bus. The slave module <NUM> and each of the slave modules <NUM> comprise a network adapter <NUM>, respectively. Each network adapter <NUM> is configured for connection with the network <NUM>. In the embodiments shown, the network <NUM> is a wire-based network. In other embodiments, the network <NUM> may be a wireless network or at least partly wireless.

If the slave modules <NUM> are registered with the master module <NUM> for network communication, data can be transferred between the master module <NUM> and the slave modules <NUM> via the network <NUM>. For example, the master module <NUM> may be configured to send instructions to the individual slave modules <NUM> via the network <NUM>. The slave modules <NUM> may be configured to send confirmations and/or measurement data to the master module <NUM> via the network <NUM>. The slave modules <NUM> and the master module <NUM> are coupled to the network <NUM> in parallel, at least functionally. In this specific context, "functionally" may mean "in terms of network topology".

In order to allow data transfer between the modules <NUM>, <NUM> in an individual, target-oriented manner <NUM>, each of the slave modules <NUM> must be individually registered within the network <NUM>. The registration is performed by the master module <NUM>. The master module then organizes the data transfer within the controller system <NUM> via the network <NUM>. The registration of the slave modules <NUM> for the network <NUM> may be automatically performed upon powering up of the controller system <NUM> as described below.

<FIG> shows an embodiment of a slave module <NUM> that can be used for the controller system <NUM> in <FIG>. The slave module <NUM> comprises a processing unit <NUM>. The processing unit <NUM> includes at least one microprocessor. For example, the processing unit <NUM> is a microcontroller unit (MCU).

In this embodiment, the slave module <NUM> comprises a plurality of input/output (I/O) connectors <NUM>. The I/O connectors <NUM> can be connected to the processing unit <NUM> as shown in <FIG>. Some or all of the I/O connectors <NUM> can include or consist of cable terminals. The I/O connectors <NUM> are usable to connect further automation hardware to the slave module <NUM> and hence to the controller system <NUM>. Such further automation hardware may include sensors, e.g. to temperature sensors, fluid flow sensors, pressure sensors, humidity sensors, and/or a dew point sensors. Additionally or alternatively, the further automation hardware may include automation hardware to be operated by the controller system <NUM>, e.g. actuators, valves, fans, compressors, heat exchangers, fluid flow mixers, and/or the like.

The slave module <NUM> may further include a memory <NUM> coupled to the processing unit <NUM>. The memory <NUM> may store operation instructions, algorithms, and/or the like. The slave module <NUM> can be configured to record operation data, e.g. sensor readings, in the memory <NUM> during operation.

Optionally, the slave module <NUM> has a user output <NUM>. The user output <NUM> can be connected to and controlled by the processing unit <NUM>. The user output <NUM> can include, for example, a display and/or a speaker. The slave module <NUM> is configured to provide information to a user via the user output <NUM>, e.g. alerts, information about operational states, and/or sensor readings.

The slave module <NUM> can include a user input <NUM>, e.g. several buttons and/or a keyboard. The user input <NUM> can be connected to the processing unit <NUM>. The slave module <NUM> can be adapted such that the user can input instructions for the operation by the user input <NUM>. The user output <NUM> and the user input <NUM> can be combined, e.g. in the form of a touchscreen.

The slave module <NUM> may have a housing <NUM>.

As noted above, all the modules <NUM>, <NUM> are connected via the network <NUM>. In addition, the exemplary slave module <NUM> is adapted for the daisy chaining with congeneric slave modules <NUM>. The congeneric slave modules <NUM> may have a common connection layout as described herein. In this regard, the connection layout may mean the structure and/or functionalities according to any embodiment described herein. Especially, the connection layout may mean the structure and/or functionalities of the slave module(s) <NUM> as defined according to any one of the claims. Apart from that, at least some of the slave modules <NUM> may differ from each other. For example, the individual slave module <NUM> can be an I/O slave module, a power supply slave module, and/or a stepper controller slave module.

The daisy chain may start directly with the master module <NUM> as shown in <FIG>. In this case, the master-side end of the daisy chain is constituted by the master module <NUM>. Alternatively, the daisy chain may start with a first slave module <NUM> (the most left slave module <NUM> in <FIG>). In this case, a master-side end of the daisy chain is constituted by first slave module <NUM> next to the master module <NUM>.

All slave modules <NUM> may be connected in series by the daisy chain. A "furthest" slave module <NUM> (or the "last" slave module <NUM>) is the one of the slave modules <NUM> that is the furthest away from the master module <NUM> along the daisy chain. In <FIG>, the furthest slave module <NUM> is the rightmost slave module <NUM>. The furthest slave module <NUM> terminates the daisy chain and also the network <NUM>. The end of the daisy chain at the furthest slave module <NUM> might be referred to as "free end".

The daisy chain is especially configured for and used for an iterative registration of slave modules <NUM> in the network <NUM> with the master module <NUM> as described in more detail below. In a nutshell, some core aspects of the iterative registration are to automatically determine which is the furthest slave module <NUM> and to start a cascadic registration process at the furthest slave module <NUM>. Firstly, the furthest slave module <NUM> is registered in a first registration cycle. After that, the furthest slave module <NUM> triggers, via the daisy chain, the second-furthest (second-last) slave module <NUM> for registration of the latter in a second registration cycle and so on.

In <FIG>, the second-furthest slave module <NUM> is the second one from the right. In this context, the furthest slave module <NUM> is the "following" slave module <NUM> when the second-furthest slave module <NUM> is considered the "present" slave module. Vice versa, the second-furthest slave module <NUM> constitutes the "previous" slave module <NUM> with respect to the furthest slave module <NUM> when the latter is considered the present slave module <NUM>.

In more general, the following slave module <NUM> of an arbitrary chosen present slave module <NUM> is the adjacent slave module <NUM> that is further away from the master module <NUM> along the daisy chain. Correspondingly, the previous slave module <NUM> of an arbitrary chosen present slave module within the daisy chain is the adjacent slave module <NUM> that is closer to the master module <NUM> along the daisy chain.

The exemplary slave module <NUM> may have master-side connector means <NUM> and/or free-end-side connector means <NUM>.

The master-side connector means <NUM> and the free-end-side connector means <NUM> can be configured to form part of a system for electrically connecting two controller system modules as described in European patent application <CIT>. The corresponding disclosures of <CIT> are incorporated by refence.

Similarly, the master module <NUM> may comprise a corresponding free-end-side connector means <NUM> (not shown). The master-side connector means <NUM> of the first slave module <NUM> can be connected to the free-end-side connector means <NUM> of the master module <NUM>. The controller system <NUM> may comprise connectors for connecting the master-side connectors means <NUM> to the free-end-side connector means <NUM> of the respective previous module <NUM>, <NUM>, e.g. connectors as described in <CIT> for that purpose.

The network adapter <NUM> of the slave module <NUM> is coupled to the processing unit <NUM> of the slave module <NUM>. The network adapter <NUM> is configured for communication with the network <NUM>. It may comprise one or more network connectors <NUM>, <NUM>, <NUM>, <NUM> and a network transceiver <NUM>.

In <FIG>, the network adapter <NUM> is able to forward the fieldbus (e.g. the CAN bus) employed as the network <NUM> through the slave module <NUM>. For this purpose, the network adapter <NUM> comprises an internal network bridge <NUM>, <NUM>. In more detail the network can be forwarded between the master-side network connectors <NUM>, <NUM> and the free-end-side network connectors <NUM>, <NUM>. The network transceiver <NUM> is connected to the internal network bridge <NUM>, <NUM> in parallel. Accordingly, in functional terms and especially in terms of network topology, the modules <NUM>, <NUM> in <FIG> are connected to the network <NUM> (i.e. the CAN bus) in parallel as shown in <FIG>. Further, the network transceiver <NUM> is connected with the processing unit <NUM>. In a modification, the slave module <NUM> does not include the internal network bridge <NUM>, <NUM>. In this case, the network adapter <NUM> (and hence the slave module <NUM>) is connected to the network <NUM> in parallel not only in terms of network topology.

Rather, the network adapters <NUM> (and hence the slave modules <NUM>) are connected to the network <NUM> completely in parallel, i.e. also from an external hardware point of view. Each slave module <NUM> may be independently connected to a common network structure of the network <NUM>. For example, the network <NUM> may include a network cable means (e.g. a long fieldbus cable such as a long CAN bus cable) with individual connectors for each of the slave modules <NUM>, wherein the network adapters <NUM> are individually connected to the corresponding connector of the network cable means. Similarly, if the network <NUM> is a wireless network, there may be no need for the internal network bridge <NUM>, <NUM>.

The slave module <NUM>, in more details its network adapter <NUM>, comprises an activatable network terminator <NUM>. If it is activated, the network terminator <NUM> terminates the network <NUM>, to which the slave module <NUM> is connected, at the slave module <NUM>. In <FIG>, the network <NUM> may be connected to the master-side network connectors <NUM>, <NUM> shown in <FIG> of the furthermost slave module <NUM>. The network terminator <NUM> of the furthermost slave module <NUM> can be activated for terminating the network <NUM>. The network terminator <NUM> may include, for example, a short circuit between network conductor <NUM> and network conductor <NUM>, wherein the short circuit may include an electric resistor and a switch for enabling/disabling the short circuit.

Apart from that, the slave module <NUM> shown in <FIG> has an optional reference potential bridge and an optional supply voltage bridge.

The reference potential bridge comprises a refence potential input connector <NUM>, an internal reference potential bypass <NUM>, and a reference potential output connector <NUM>.

The reference potential input connector <NUM> may form part of the master-side connector means <NUM>. The refence potential input connector <NUM> may include a metal pin or a pin socket for receiving a metal pin. It can be connected to the reference potential output connector <NUM> of the previous slave module <NUM> or of the master module <NUM> (if the present slave module <NUM> is the first slave module <NUM> along the daisy chain, i.e. directly following the master module <NUM>).

The reference potential output connector <NUM> may form part of the free-end-side connector means <NUM>. The refence potential output connector <NUM> may include a metal pin or a pin socket for receiving a metal pin. It can be connected to the reference potential input connector <NUM> of the following slave module <NUM>.

A potential applied at the reference potential input connector <NUM> may be used as an (electric) reference potential. Additionally or alternatively, the slave module <NUM> may comprise a reference potential input connector (not shown) for using an electric potential of a mounting rail, on which the slave module <NUM> is mounted, as the (electric) reference potential.

The supply voltage bridge comprises a supply voltage input connector <NUM>, an internal supply voltage bypass <NUM>, and a supply voltage output connector <NUM>.

The supply voltage input connector <NUM> may form part of the master-side connector means <NUM>. The supply voltage input connector <NUM> may include a metal pin or a pin socket for receiving a metal pin. It can be connected to the supply voltage output connector <NUM> of the previous slave module <NUM> or of the master module <NUM> (if the present slave module <NUM> is the first slave module <NUM>).

The supply voltage output connector <NUM> may form part of the free-end-side connector means <NUM>. The supply voltage output connector <NUM> may include a metal pin or a pin socket for receiving a metal pin. It can be connected to the supply voltage input connector <NUM> of the following slave module <NUM>.

The supply voltage input connector <NUM> may be used to supply a supply voltage with respect to the electric reference potential to the slave module <NUM>. An absolute value of the supply voltage can be in the range from <NUM> V to <NUM> V, for example from <NUM> V to <NUM> V. In one embodiment, the supply voltage is <NUM> V. The supply voltage may be a DC voltage, e.g. +<NUM> V DC.

The slave module <NUM> comprises a separate status output connector <NUM>. In this context, "separate" may mean that status input connector <NUM> is a hardware element that is provided in addition to the network adapter <NUM>. The status output connector <NUM> may form part of the master-side connector means <NUM>. The status output connector <NUM> may include a metal pin or a pin socket for receiving a metal pin. It can be connected to the status input connector <NUM> of the previous slave module <NUM>.

The status output connector <NUM> is connected to the processing unit <NUM>. In more detail, the status output connector <NUM> may be connected to a trigger output <NUM> of the processing unit <NUM>. The processing unit <NUM> is able to apply a trigger voltage UT at the status output connector <NUM> (and hence at the status input <NUM> of the previous slave module <NUM> or the master module <NUM> connected thereto) with respect to the reference potential. The trigger voltage UT may correspond to the supply voltage or to a predetermined percentage thereof. The trigger voltage UT may be a DC voltage.

An electric reference potential applicator may be connected to the status output connector <NUM> in parallel to the processing unit <NUM>. The reference potential applicator can include (especially be) a pull-down discharger. In <FIG>, the pull-down discharger includes an electric connection to the reference potential with a pull-down resistor <NUM>. In more detail, the pull-down discharger connects the status output connector <NUM> with the electric reference potential input <NUM> via the pull-down resistor <NUM> and the reference potential bypass <NUM>.

An ohmic trigger output resistor <NUM> may be arranged in series between the processing unit <NUM>, in particular the actual trigger output <NUM>, on the one hand and the status output connector <NUM> and the pull-down resistor <NUM> on the other hand (see <FIG>). As the characteristic of the trigger output resistor <NUM> with regard to the trigger voltage output is predetermined and known, it can be considered to form part of the trigger output <NUM>.

Apart from that, the slave module <NUM> comprises a separate status input connector <NUM>. The status input connector <NUM> may form part of the free-end-side connector means <NUM>. The status input connector <NUM> may include a metal pin or a pin socket for receiving a metal pin. It can be connected to the status output <NUM> of the following slave module <NUM>.

The status input connector <NUM> is connected to the processing unit <NUM>. In more detail, the status input connector <NUM> may be connected to a sensing input <NUM> of the processing unit <NUM>. The processing unit <NUM> is adapted to sense a voltage applied at the status input connector <NUM> with respect to the reference potential. The processing unit <NUM> can sense the voltage applied to the status input port <NUM> autonomously. It may at least distinguish whether a trigger voltage UT or an idle voltage U<NUM> is applied at the status input connector <NUM>. The idle voltage U<NUM> is different from the trigger voltage UT, for example by at least <NUM>,<NUM> V, e.g. by at least <NUM>,<NUM> V.

An electric second potential applicator may be connected to the status input connector <NUM> in parallel to the processing unit <NUM>. The second potential applicator can include (especially be) a pull-up supply. In <FIG>, the pull-up supply includes an electric connection to the supply voltage with a pull-up resistor <NUM>. In more detail, the pull-up supply connects the status input connector <NUM> with the electric supply voltage input <NUM> via the pull-up resistor <NUM> and the supply voltage bypass <NUM>.

The status input connector of the furthest slave module <NUM> in <FIG> is unconnected. It is not connected to the status output connector <NUM> of any other slave module <NUM>. The second potential applicator applies a second voltage with respect to the electric reference potential at the status input connector <NUM>. As the status input connector <NUM> is unconnected, no significant current flows through the pull-up resistor <NUM>. Hence, there no significant voltage drop across the pull-up resistor <NUM> although an ohmic resistance of the pull-up resistor <NUM> is high. Summed up, when the status input connector <NUM> is unconnected as in the furthest slave module <NUM>, the supply voltage or a predetermined percentage thereof is applied as the second voltage at the status input connector <NUM>. The second voltage may be a DC voltage. In one embodiment, the second voltage corresponds to the trigger voltage UT or to a predetermined percentage thereof.

An ohmic sensing input resistor <NUM> may be additionally arranged in series between the processing unit <NUM>, in particular the actual sensing input <NUM>, on the one hand and the status input connector <NUM> and the pull-up resistor <NUM> on the other hand (see <FIG>). As the characteristic of the sensing input resistor <NUM> with regard to the voltage measurement is predetermined and known, it can be considered to form part of the sensing input <NUM>.

The reference potential applicator is stronger than the electrical second potential applicator. If the slave module <NUM> is not the furthest slave module <NUM> in <FIG>, its status input connector <NUM> is connected to the status output connector <NUM> of the following slave module <NUM>. Accordingly, the second potential applicator cannot uphold the second voltage at the status input connector <NUM> of the present slave module <NUM>. The reference potential applicator of the following slave module <NUM> pulls the voltage down from the second voltage to an idle voltage U<NUM>. The idle voltage U<NUM> may be at least approximately <NUM> V with respect to the reference potential. For example, an absolute value of the idle voltage U<NUM> is <NUM>,<NUM> V at the maximum, maybe <NUM>,<NUM> V at the maximum.

In other words, the pull-down discharger is dominant with respect to the pull-up supply of a congeneric slave module <NUM>. In one embodiment, the ohmic resistance of the pull-up resistor <NUM> is at least two times, for example at least five times an ohmic resistance of the pull-down resistor <NUM>. Hence, if the status input connector <NUM> of the present slave module <NUM> is connected to the status output connector <NUM> of the following slave module <NUM>, the majority of the voltage drop between the supply voltage bypass in present slave module <NUM> and the reference potential bypass in the following slave module <NUM> occurs across the pull-up resistor <NUM> in the present slave module <NUM>.

No slave module <NUM> of the controller system <NUM> applies the trigger voltage UT to its status output connector <NUM> and hence to the status input connector <NUM> of the previous slave module <NUM> (see step S60 in <FIG>) before the master module <NUM> has sent an initialization broadcast, see step S40 in <FIG> and <FIG>. Hence, after powering up the controller system <NUM> (step S20 in <FIG> including steps S21 and S22 in <FIG>) and before step S40, the second voltage (which may correspond to the trigger voltage UT) applies at the unconnected status input connector <NUM> of the furthest slave module <NUM> only. For all other slave modules <NUM> and the master module <NUM>, the idle voltage U<NUM> is applied at the respective status input connector <NUM> by the respective following slave module <NUM>.

This is used in step S30 (see <FIG> and <FIG>) to automatically determine the furthest slave module <NUM>. The furthest slave module <NUM> itself automatically detects that it is the furthest slave module <NUM> by sensing the second voltage, which is different from the idle voltage U<NUM>, at its status input connector <NUM> before having received the initialization broadcast from the master module <NUM>.

<FIG> shows an embodiment of a master module <NUM> that can be used for the controller system <NUM> in <FIG>. Elements corresponding to elements of the slave module <NUM> shown in <FIG> are denoted with the same reference signs as in <FIG> and are not explained again.

In this exemplary embodiment, the master module <NUM> comprise a power supply unit including an external power input <NUM> and a switching power supply <NUM>.

The master module <NUM> comprises a network adapter <NUM>' for the network <NUM> with a network transceiver <NUM>. Similar as in the slave module <NUM> in <FIG>, the free-end-side network connectors <NUM>, <NUM> may form part of the free-end-side connector means <NUM>.

The master module <NUM> further has an external network adapter <NUM> for connection with an external network. For example, the external network adapter <NUM> may include an external network connector <NUM>, e.g. an RJ-<NUM> connector, and an external network transceiver <NUM> coupled to the external network connector <NUM> and the processing unit <NUM>.

The master module <NUM> may be configured to terminate the network <NUM> (at the master-side end).

In the following, a method for the iterative registration of the slave modules <NUM> of the modular controller system <NUM> is described referring to <FIG>.

The right part of <FIG> shows the actions of the slave modules <NUM>. The steps are in general the same for all slave modules <NUM>. The steps shown in the section TBR are repeated, respectively for all slave modules <NUM>. This corresponds to the repetition of the steps S70, S71 to S60 in <FIG>.

At the beginning, the slave modules <NUM> are not registered with the master module <NUM> for targeted network traffic via the network <NUM>. There is no information about a physical sequence/order of the slave modules <NUM>.

In step S10 ("Connect master module and slave modules to network"), the master module <NUM> and all slave modules <NUM> are connected to the network <NUM>. In any case, the network transceivers <NUM> of the master module <NUM> and slave modules <NUM> are connected to the network <NUM> in parallel. From a functional perspective, the master module <NUM> and the slave modules <NUM> are connected to the network in parallel as schematically illustrated in <FIG>, even if the network <NUM> is bypassed though the individual slave modules <NUM> as explained with regard to <FIG>.

According to step S20 ("Provide status input connector and status output connectors at each slave module"), each of the slave modules <NUM> is provided with a status input connector <NUM> and a status output connector <NUM> as explained above.

The method also may include providing the master module <NUM> with a status input connector <NUM>, see step S12 in <FIG> ("Providing status input connector at master module") and <FIG>.

According to step S13 ("Establish additional daisy chain"), the slave modules <NUM> are connected (in addition to their connection via the network <NUM>) in series via their status input connectors <NUM> and their status output connectors <NUM>. For each consecutive slave modules <NUM>, the status output connector <NUM> of the following one of the consecutive slave modules <NUM> is electrically connected to the status input connector <NUM> of the present one of the consecutive slave modules <NUM>. The status input connector <NUM> of the furthest slave module <NUM> remains unconnected. The status output connector <NUM> of the first slave module <NUM>, which is next to the master module <NUM>, may be connected with the status input connector <NUM> of the master module <NUM>. In this way, the slave modules <NUM> and the master module <NUM> are connected in series by trigger cascade chain separate from the network <NUM>.

In addition, step S13 may include electrically connecting one of, several of, or all of the connectors <NUM>, <NUM>, <NUM>, <NUM>, <NUM> of the master-side connection means <NUM> of the slave modules <NUM> to the corresponding connectors <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> of the respective previous module <NUM>, <NUM>. Accordingly, steps S13 can include step S10.

Furthermore, S13 can include electrically connecting the supply voltage bridges of all slave modules <NUM> and the supply voltage output connector <NUM> of the master module <NUM> in series and/or electrically connecting the reference potential bridges of all slave modules <NUM> with the reference potential output connector <NUM> of the master module <NUM> in series.

Naturally, the whole free-end-side connection means <NUM> of the furthest slave module <NUM> may remain unconnected.

In step S20 ("Powering up controller system"), the controller system <NUM> is activated. This includes powering up of the master module <NUM>, see step S21 in <FIG>, for example by supplying external power to the external power supply <NUM> shown in <FIG> and/or by switching on the master module <NUM>. Step S20 also include powering up the slave modules <NUM>, see step S22 in <FIG>. Electric power from the master module <NUM> may be forwarded to and bypassed through all slave modules <NUM> until the furthest slave module <NUM> is provided with electric power.

The slave modules <NUM> automatically enter an incipient state upon powering up. Steps S30 and S31 are performed during the incipient state.

The slave modules <NUM> switch from the incipient state to an enumeration state only upon receipt of the initialization broadcast from the master module <NUM>, see steps <NUM> in <FIG> and <FIG> and step <NUM> in <FIG>. As long as the slave modules have not received the initialization broadcast (see step S41 in <FIG>), they remain in the incipient state. In the incipient state, no one of the slave modules <NUM> applies the trigger voltage UT at its respective status output connector <NUM> (see steps S60in <FIG>) and no one of the slave modules <NUM> sends a presentation message to the master module <NUM>.

In step S30 ("Determine furthers slave module", see <FIG>), the furthest slave module <NUM> is automatically determined. The processing unit <NUM> of each slave module <NUM> senses the voltage applied to its status input connector <NUM>. As the status input connector <NUM> of the furthest slave module <NUM> is unconnected, its second potential applicator applies the second voltage (which may be the same as the trigger voltage UT) at this status input connector <NUM>. By sensing the second voltage in step S30, the processing unit <NUM> of the slave module <NUM> automatically determines that this slave module <NUM> is the furthest slave module <NUM>. For all other slave modules <NUM>, the voltage applied at the respective status input connector <NUM> is pulled down to the idle voltage U<NUM> (due to the electrical connection with the status output connector <NUM> and the reference potential applicator of the following slave module <NUM>). The furthest slave module <NUM> stores that it is the furthest slave module <NUM>, for example by storing this information in the memory <NUM>.

In step S31 ("Activate network terminator at furthest slave module"), the furthest slave module <NUM> then automatically activates its network terminator <NUM> for physical termination the network <NUM>. As steps S30 and S31 are completely performed by the furthest slave module <NUM>, this happens independently from the master module <NUM> and the other slave modules <NUM>.

After having performed step S30 and, if applicable, step S31, the slave modules <NUM> (including especially the furthest slave module <NUM>) await receiving the initialization broadcast from the master module <NUM> via the network <NUM>.

The master module <NUM> may check in an optional step S23 ("Slave module(s) present?") whether any slave module <NUM> is connected with the status input connector <NUM> of the master module <NUM> in a corresponding manner. Step S23 is shown in <FIG>. There is no slave module <NUM>, the master module <NUM> ends the registration of slave module1 (see step <NUM> in <FIG>).

The method may include a pre-determined waiting time (e.g. in the range from <NUM> to <NUM>) from powering up of the master module <NUM> before the master module <NUM> emits the initialization broadcast. This ensures sufficient time for reliably performing steps S30 and S31.

In step S40, the master module <NUM> emits the initialization broadcast via the network <NUM>. In step <NUM> ("Await/receive initialization broadcast"), each of the slave modules <NUM> receives the initialization broadcast with its respective network adapter <NUM> and, as a consequence, switches from the incipient state to the enumeration state. The initialization broadcast may include address information such that the slave modules <NUM> can specifically address messages to the master module <NUM>, e.g. a network ID of the master module <NUM> in the network <NUM>.

Upon reception of the initialization broadcast, the furthest slave module <NUM> sends a presentation message to the master module <NUM> via the network <NUM>, see step S51 ("Send presentation message from furthest slave module via network") in <FIG> and first iteration of step S51 in <FIG>.

As the furthest slave module <NUM> has already determined that it is the furthest one, it can directly proceed to step S51. However, in particular if the second voltage corresponds to the trigger voltage UT, the furthest slave module <NUM> may proceed - like the other slave modules <NUM> - from step S41 to step S50 first (see dotted arrow in <FIG>). As the second voltage/trigger voltage UT is still applied at its signal input connector <NUM> by its own second potential applicator, it further proceeds from step S50 to step S51.

In step S52 ("Await/receive presentation massage at master module") of <FIG> and the first iteration of step S52 in <FIG>, the master module <NUM> receives the presentation message from the furthest slave module <NUM>. As this presentation message is the first one received by the master module <NUM>, the master module can determine that this (first) presentation must originate from the furthest slave module <NUM>. In this way, the master module <NUM> obtains a first information regarding the physical sequence of the slave modules <NUM>. The presentation message may comprise information for specifically addressing the furthest slave module <NUM>, e.g. a hardware address such as a Media-Access-Control (MAC) address or the like.

The master module <NUM> registers the furthest slave module <NUM> for further network communication, see step S53 ("Register furthest slave module") in <FIG>. The master module <NUM> may assign a unique network ID to the furthest slave module <NUM>.

Then, the master module <NUM> sends a registration response to the furthest slave module <NUM> via the network <NUM>, see step S54 ("Send registration response from master module to furthest slave module via network") in <FIG> and first iteration of step S54 in <FIG>. The registration response may include information on the assigned unique network ID.

The furthest slave module <NUM> awaits and receives the registration response from the master module <NUM> with its network adapter <NUM>, see step S55 ("Await/receive registration response at the furthest slave module") in <FIG> and first iteration of step S55 in <FIG>.

The individual registration cycle for the furthest slave module <NUM> is now completed. Thereupon, the furthest slave module <NUM> applies, by means of its processing unit <NUM>, especially by means of the trigger output <NUM> of the latter, the trigger voltage UT to its status output connector <NUM>, see step S60 ("Apply trigger voltage at status output connector of furthest slave module") in <FIG> and first iteration of step S60 in <FIG>.

The trigger output <NUM> is stronger than the reference potential applicator. If the trigger output <NUM> is enabled, it pulls up the voltage at the status output connector <NUM> from the idle voltage U<NUM> to the trigger voltage UT.

At this moment, the furthest slave module <NUM> is still considered the "present" slave module <NUM> in terms of the repetitions in the section TBR of <FIG> and step S69 ("Present slave module = Furthest slave module") in <FIG>.

In steps S70 and S71 it is determined whether the present slave module <NUM> is the first slave <NUM>, i.e. the slave module <NUM> directly following the master module <NUM> in the daisy chain / trigger cascade chain.

As can be seen in step S70 ("First slave?") in <FIG>, if the present slave module <NUM> is not the first slave module <NUM>, the status input connector <NUM> of the previous slave module <NUM> is electrically connected with the status output connector <NUM> of the present slave module <NUM> and hence, at step S70, the trigger voltage UT is applied at the status input connector <NUM> of the previous slave module <NUM>.

In other words, the previous slave module <NUM> is triggered by the present slave module <NUM> for starting the next registration cycle for registering the previous slave module <NUM>. This may correspond to the next iteration of the section TBR in <FIG> for the previous slave module <NUM>.

Correspondingly, said previous slave module <NUM> constitutes the present slave module <NUM> in the next iteration of section TBR in <FIG>, see also step S72 in <FIG>. The former present slave module <NUM> may be denoted as the "following" slave module <NUM> in this next iteration (see also step S72 in <FIG>). This next iteration in <FIG> starts with a new iteration of step S50 for the "new" present slave module <NUM>.

The steps S51 to S60 in <FIG> are the same as in <FIG> and do not need to be explained again in detail. The only difference is that the present slave module <NUM> is different from the furthest slave module <NUM>. The specific way of illustration in <FIG> and <FIG> is merely chosen to highlight the important aspect of starting the iterative registration with the registration of the furthest slave module <NUM> as shown in <FIG>.

As can be seen in step S70 ("First slave?") in <FIG>, if the present slave module <NUM> is the first slave module <NUM>, the status input connector <NUM> of the master <NUM> is electrically connected with the status output connector <NUM> of the present, first slave module <NUM>. Hence, at step S70, the trigger voltage UT is now applied at the status input connector <NUM> of the master module <NUM> for the first time, see step S71 in <FIG> ("trigger voltage at signal input connector of master module?"). In response thereto, the master module <NUM> may proceed with step S80.

Alternatively or additionally, the master module <NUM> may proceed with step S80 if it determines a time-out condition. For example, the time-out condition may include that the master module <NUM> has not received a (further) salve presentation message for a pre-determined period of time.

In step S80 ("Send end enumeration message"), which is shown in <FIG>, the master module sends an end enumeration message to the slave modules <NUM> via the network <NUM>. The end enumeration message can be a broadcast and/or include messages specifically targeted to the individual slave modules <NUM>.

In step S81 ("Await/receive end enumeration message"), the slave modules <NUM> receive the end enumeration message. In response thereto, they may switch out of the enumeration state.

Each slave module <NUM> sends a corresponding end enumeration confirmation to the master module <NUM> in step S82.

In step S83, the master module <NUM> awaits and receives the end enumeration messages from all slave modules <NUM>. When all confirmations are received, the method is finished.

Based on a time sequence in which the master module <NUM> receives the presentation messages from the slave modules <NUM> in the consecutive iterations of the section TBR in <FIG> (and the repetition cycle in <FIG>), the master module <NUM> can conclude the physical sequence/positions of all slave modules <NUM> in the daisy chain. The master module <NUM> may be configured to automatically determine, and optionally store - e.g. in its memory <NUM> - a correspondence between the physical positions and the logic addresses (e.g. the network IDs) of the slave modules.

In this way the slave modules <NUM> can be easily identified and addressed by any software in the master module <NUM> that is governing the controller system <NUM>.

According to one aspect, the slave module <NUM> may perform the steps S51 to S60 only while it is in a configuration mode. The controller system <NUM> is configured that only one of the salve modules <NUM> can be in the configuration mode at the same time. The slave modules <NUM> switch to the configuration mode only individually directly before performing step S51, respectively. Step S60 may include ending the configuration mode in the respective slave module <NUM>.

The trigger cascade chain may employ simple TTL/CMOS logic.

For each slave module <NUM> (and optionally for the master module <NUM>), the processing unit <NUM> can be configured to determine at least three different logical situations at the status input connector <NUM>:.

In a modification, step S60 in <FIG> include applying a pulsed trigger signal at the status output connector <NUM>. The pulsed trigger signal may include repeated pulses with the trigger voltage UT. This may facilitate to distinguish between the second voltage and the trigger signal even if the second voltage corresponds to the trigger voltage UT. In each slave module <NUM> (and optionally the master module <NUM>), the processing unit <NUM> may be configured to recognize the specific trigger signal by sensing the voltage applied to the status input connector <NUM>.

The controller system <NUM> and the disclosed method for the iterative registration of slave modules <NUM> of the modular controller system <NUM> allow a fully automatic termination of the network <NUM> at the physical end of the sequence of the slave modules <NUM>, i.e. at the furthest slave module <NUM> (automatic termination). Furthermore, all slave modules <NUM> are automatically included into the network communication of the network <NUM> in a fully automatic manner (automatic enumeration). The automatic enumerations starts with the furthest slave module <NUM> goes backward until the master module <NUM>. In addition, the master module <NUM> can automatically infer the physical positions of the individual slave modules <NUM> without additional input, e.g. additional manual input by a user. Therefore, the controller system <NUM> and the disclosed method facilitate the commissioning of the modular controller system <NUM>.

Claim 1:
Slave module (<NUM>) for a modular controller system (<NUM>) employing an industrial network (<NUM>) for communication within the controller system (<NUM>), the modular controller system (<NUM>) comprising a master module (<NUM>),
wherein the slave module (<NUM>) comprises:
a processing unit (<NUM>); and
a network adapter (<NUM>) for the network (<NUM>), wherein the network adapter (<NUM>) is operatively coupled to the processing unit (<NUM>);
wherein the slave module (<NUM>) includes a separate status input connector (<NUM>) coupled to the processing unit (<NUM>) and a separate status output connector (<NUM>) coupled to the processing unit (<NUM>);
wherein the processing unit (<NUM>) is capable of sensing a voltage applied at the status input connector (<NUM>) with respect to an electric reference potential,
characterized in that the processing unit (<NUM>) is capable to apply a trigger voltage at the status output connector (<NUM>) with respect to the reference potential;
wherein the slave module (<NUM>) is configured to, in an enumeration state,
- send, upon the processor unit (<NUM>) sensing that the trigger voltage is applied at the status input connector (<NUM>), a presentation message to the master module (<NUM>) via its network adapter (<NUM>) and the network (<NUM>),
- apply, upon receiving a registration response from the master module (<NUM>) at the network adapter (<NUM>), the trigger voltage at the status output connector (<NUM>) by means of the processing unit (<NUM>).