CN100594707C - The digital communication method of the digital control system based on Ethernet technology - Google Patents
The digital communication method of the digital control system based on Ethernet technology Download PDFInfo
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Abstract
This invention relates to digital control system communication method based on Ethernet technique in motion control field, which comprises the following steps: connecting Ethernet hardware between digital control system controller and executer and defining Ethernet frame form parameters digital control system data message form and designs the realize communication agreement; the said controller and all executers adopt star topological structure.
Description
Technical field
The present invention relates to a kind of digital communication method, belong to motion control field.
Background technology
In the digital control system, controller is the form that adopts pulse train or aanalogvoltage to the traditional approach of servo-driver transmission command, this control mode only is suitable for Digit Control Machine Tool process velocity and all not too high occasion of control precision, be difficult to satisfy multichannel, at a high speed, high-precision processing request.In order to improve process velocity and machining accuracy, need to adopt the mode of digital communication between digital control system internal controller and the servo-driver, as fieldbus etc.At present more external high-grade digital control system major parts all adopt the communication mode of fieldbus to be used for the communication of digital control system inside, adopt FSSB as FANUC, and SIMENS adopts fieldbus such as PROFIBUS-DP.Compare with analog quantity, burst mode, fieldbus is a kind of communication means preferably, and higher real-time and reliability are arranged, and can satisfy Digit Control Machine Tool high speed, high-precision processing request.But current field bus technique adopts specialized hardware mostly, has occurred in application process that agreement is wide in variety, poor compatibility, exploitation and maintenance difficulties reach the high shortcoming of cost greatly.
In recent years, along with development of Ethernet technology, its transmission rate is considerably beyond special-purpose fieldbus, and the popularization of its technology maturation, application, high traffic rate and cheap price have been created condition for the communication that Ethernet is introduced between the numerical control internal system.But owing to Ethernet develop for the transmission of big data quantity and non-real-time data, the uncertainty that its data exist in transmission course can not satisfy Digit Control Machine Tool high speed, the desired hard real time of high fine finishining, synchronous data transmission requirement by force.
Summary of the invention
At adopting pulse train or aanalogvoltage form transmission command to exist process velocity slow between present controller and the actuator, the problem that control precision is low, exist at present field bus technique transmission command and must use specialized hardware and agreement to occur wide in variety, poor compatibility, exploitation and maintenance difficulties reach the high problem of cost greatly, and there is non real-time in special Ethernet transmission, there is probabilistic problem in the asynchronous and data transmission procedure, the invention provides a kind of digital communication method, utilize general ethernet technology, on the basis that has guaranteed the high traffic rate of Ethernet, hard real time and the requirement of synchronizing information transmission by force between digital control system internal controller and the actuator have been realized simultaneously.
Involved in the present invention to networked physics layer and the link layer protocol physical layer and the link layer protocol that still adopt standard ethernet, and employing stelliform connection topology configuration, on its basis, provide in real time and synchronous communications protocol, for controller and actuator application layer directly provide interface.To achieve these goals, the present invention adopts following technical scheme:
A kind of digital control system digital communication method based on ethernet technology, between the controller of digital control system and actuator, be connected ethernet hardware, and in ethernet frame format the definition digital control system the data message form, and designed real-time communication protocol, adopt stelliform connection topology configuration to be connected between described controller and all actuators.
Adopt the host-guest architecture mode to communicate between controller and the actuator, utilize general Ethernet that controller and actuator are coupled together, set up unified message format, utilize the high characteristics of ethernet communication speed, by the method for software synchronization and timesharing transmission, realize hard real time and strong synchronous communication.Unified message comprises: message MD of main website (slave controller is to the downlink message of actuator) and slave station message SD (uplink message from the actuator to the controller).MD comprises that controller issues the instruction and the parameter of actuator, again as the synchronizing signal of each actuator; SD comprises state information and the feedback data that each actuator is issued controller.
Particularly, the heading form of digital control system is identical with the frame head form of Ethernet, and the message trailer form of digital control system is identical with the postamble form of Ethernet.
For specification description, the main website in this specification, claims and the specification digest represents controller, and slave station is represented actuator.It is as follows that protocol communication of the present invention is divided into four steps:
(1) stage 0: confirm the connection between controller and the actuator.Main website sends MD and waits for the SD that replys of slave station, detects whether all SD are received, if lack then to show that system connects unreliable or unstable.Repeat above process several times, if all received all SD, then the connection between controller and the actuator obtains confirming at every turn, and is the slave station allocation list of each equipment appointment logical address, generation system, enters the stage 1.Detailed process is as follows:
The main website allocation list is set in the controller, and each actuator is provided with the slave station allocation list, and time slice counter, a slave station counter, overtime timer, time-out count device are set in controller; The higher limit of each timer, counter is set simultaneously; The higher limit of a described slave station counter is consistent with the actuator number;
A. controller:
W. Ethernet card, main website and slave station allocation list are carried out initialization, clear 0 to a slave station counter I, time slice counter J, expired times counter K, the initial value of overtime timer is set, and the higher limit of each counter, timer is set;
X. is time slice counter values J less than time slice counter higher limit?
Be to continue;
, do not enter the stage 1;
Y. main website broadcasts MD to slave station;
Z. wait for that slave station replys SD, does overtime timer reach higher limit?
Be to enter the f1 step;
, do not collect slave station SD;
Does the a1.MAC address exist?
Be to enter the d1 step;
, do not continue;
B1. specify logical address, SD transmitting time and deposit the slave station allocation list in for this slave station;
C1. slave station number Counter Value I+1;
Is d1.I+1 less than a slave station counter higher limit?
Be to return the z step;
, do not continue;
E1. time slice counter J+1 returns the x step;
F1. time-out count device K+1;
Is g1.K+1 less than the expired times upper limit?
Be to enter the y step;
Not, overtime withdrawing from, system reports an error;
B. actuator:
H1. wait for and receive the MD of main website;
Whether the MD check code of i1. receiving correct?
Be to send SD;
, do not return the h1 step.
(2) stage 1: stage 2 and required messaging parameter of stages 3 are configured.Main website sends point-to-point MD configuration message to each slave station respectively according to the slave station allocation list that generates in the stage 0, the time that give each slave station configuration logic address and stage 2, the stage 3 sends SD, wait for the SD that replys of slave station then, slave station configuration is to the last finished.Check at last,, then enter the stage 2, otherwise main website reports an error if the SD response message of all slave stations all is received.
The detailed process in " stage 1 " is as follows:
The main website allocation list is set in the controller, and each actuator is provided with the slave station allocation list, and a slave station counter, overtime timer, time-out count device are set in controller; The higher limit of each timer, counter is set simultaneously; The higher limit of a described slave station counter is consistent with the actuator number;
A. controller:
P. clear 0 to a slave station counter I, expired times counter K, the initial value of overtime timer is set, and the higher limit of each counter, timer is set;
Q. is slave station number Counter Value I less than higher limit?
Be to continue;
, do not enter the stage 2;
R. send the time of point-to-point MD configuration message according to slave station allocation list order to slave station to (current) slave station configuration logic address and transmission SD;
S. wait for that slave station replys SD, does overtime timer reach higher limit?
, do not continue;
Be to enter the v step;
T. collect slave station SD;
U. slave station number Counter Value I+1 returns the q step then;
Does v. time-out count device k add 1, and judges that it reaches the higher limit of time-out count device?
, do not return the r step;
Be, overtime withdrawing from, system reports an error;
B. actuator:
V-a. receive MD;
Whether the MD that v-b. receives valid data?
Be to continue;
Not, system reports an error;
V-d. read among the MD configuration information and be saved in the slave station allocation list;
V-e. send SD, return the v-a step then;
(3) stage 2: the configuration parameter to the stage 1 is confirmed.Main website sends MD, and slave station is by replying SD setup time.Main website judges according to the response time of slave station allocation list and slave station whether the parameter configuration of slave station is correct.If parameter configuration is correct, then repeat this process several times, to guarantee the stability of system.If incorrect stage 1, rearranging logic address and the SD transmitting time parameter then returned.
The detailed process in stage 2 is as follows:
Cycle timer is set, time slice counter, expired times counter, overtime timer, and the higher limit of each counter, timer is set;
A. controller:
J1. start-up period timer, clear 0 to time slice counter J, expired times counter K, the initial value of overtime timer is set, and the higher limit of each counter, timer is set;
Does k1. time slice counter values J reach higher limit?
, do not continue;
Be to enter the stage 3;
L1. to all slave station broadcasting MD;
M1. to wait for receiving SD, does overtime timer reach the upper limit?
Be to enter the q1 step;
, do not continue;
N1. receive the SD that returns;
Does o1. the time of cycle timer setting arrive?
Be to continue;
, do not return the m1 step;
P1. whether the order of returning according to slave station allocation list identification SD correct?
Be that time slice counter values J+1 returns the k1 step;
, do not enter the r1 step;
Does q1. time-out count device K+1 reach the expired times upper limit?
, do not return the l1 step;
Be to enter the r1 step;
R1. returning the stage 1 reconfigures parameter;
B. actuator:
S1. receive MD;
Whether the MD that t1. receives valid data?
Be to continue;
Not, system reports an error;
U1. start the SD transmission timer;
V1. information is write SD;
W1. timer time then sends SD, returns the s1 step then.
(4) stage 3: be normal operating phase.The agreement main website is according to the time configuration information in stage 2, timed sending MD, and receive the SD of each slave station; Respectively open timer and then send SD according to the transmitting time of configuration in the timer time from standing in to receive behind the MD.
The detailed process in stage 3 is as follows:
Cycle timer, a slave station counter are set in controller, transmission timer is set in the actuator;
A. controller, i.e. main website:
A. start-up period timer;
B. to all slave station broadcasting MD;
C. wait for and receive slave station message SD;
Whether the SD that d. receives valid data?
Be to continue;
Not, system reports an error;
E. buffer memory SD information;
Do f. whether all slave station SD all receive?
Be to continue;
, do not return the c step;
G. main website handles slave station SD, and prepares the MD of following one-period;
Does h. the timing of cycle timer arrive?
Be to return the b step;
Not, wait for, repeat the h step;
B. actuator, i.e. slave station:
I. receive MD;
Whether the MD that j. receives valid data?
Be to continue;
Not, system reports an error;
K. start the SD transmission timer;
L. reading this slave station information line correlation of going forward side by side from MD handles;
M. according to the slave station state SD information is set;
N. timer time then sends SD, returns the i step then.
The present invention has realized utilizing the communication issue of general Ethernet between digital control system controller and actuator, need not adopt specialized hardware, safeguard that easy cost is low, it not only can realize big data quantity transmission, can also satisfy digital control system communicate by letter desired hard real time and strong requirement synchronously.Owing to adopt stelliform connection topology configuration, can realize hot plug, separately between each website do not interfere with each other, network fault diagnosis is easy, is beneficial to apply.
Description of drawings
Fig. 1 is a digital control system digital communications network structure chart;
Fig. 2 is a digital control system real-time communication protocol system assumption diagram;
Fig. 3 is the communication cycle schematic diagram of digital control system real time communication;
Fig. 4 is the message format schematic diagram of the message MD of main website;
Fig. 5 is a slave station message SD message format schematic diagram;
Fig. 6 is stage 0 a main website process chart;
Fig. 7 is stage 0 a slave station process chart;
Fig. 8 is stage 1 a main website process chart;
Fig. 9 is stage 1 a slave station process chart;
Figure 10 is stages 2 main website process charts;
Figure 11 is stages 2 slave station process charts;
Figure 12 is stages 3 main website process charts;
Figure 13 is stages 3 slave station process charts.
Embodiment
Specify embodiments of the present invention below in conjunction with accompanying drawing.
A kind of digital control system digital communication method based on ethernet technology, between the controller of digital control system and actuator, be connected ethernet hardware, and in ethernet frame format the definition digital control system the data message form, and designed real-time communication protocol, particularly, the heading form of digital control system is identical with the frame head form of Ethernet, and the message trailer form of digital control system is identical with the postamble form of Ethernet.Adopt stelliform connection topology configuration to be connected between described controller and all actuators, network topology structure as shown in Figure 1, described ethernet hardware is an ethernet concentrator, one end of ethernet concentrator is connected with the controller of digital control system, the other end is connected with each actuator respectively, actuator mainly contains feed servo driver, spindle driver, PLC and measuring equipment, also can comprise other actuator.
Networked physics layer that arrives involved in the present invention and link layer protocol adopt the physical layer and the link layer of standard ethernet, real-time and synchronous communications protocol of the present invention has been proposed on its basis, protocol architecture as shown in Figure 2, real-time communication protocol is on Ethernet, and bypass TCP/IP directly provides the real time communication function for digital control system.
The present invention utilizes the high characteristics of ethernet communication speed, sets up unified message format, by the method for software synchronization and timesharing transmission, solves hard real time and strong stationary problem.Unified message comprises: message MD of main website (slave controller is to the downlink message of actuator) and slave station message SD (uplink message from the actuator to the controller).
MD comprises that controller issues the synchronizing signal of actuator, instruction and parameter, message format as shown in Figure 4, heading comprises source address, destination address and protocol type; Message trailer is the cyclic redundancy check (CRC) code of one 4 byte, is used for data check; The data field comprises the valid data that transmitted, comprising the tributary address slave station logical addresses of data (expression receive), control word (be mainly used in transmission main website give between the control command of actuator and the master-salve station set up passage aperiodic), data aperiodic (being used to transmit class data aperiodic) and cycle data the real time data information of slave station (when being used to transmit normal operation to).
Comprise each actuator among the SD and issue the state information and the feedback data of controller, message format as shown in Figure 5.Heading comprises source address, destination address and protocol type; Message trailer comprises the cyclic redundancy check (CRC) code of one 4 byte; The data field comprises: tributary address (is used to represent the address of slave station, be convenient to main website and distinguish the packet of receiving), status word (is used for the running status to control unit feedback slave station, set up passage aperiodic with the main website control word), data aperiodic (being used to feed back data aperiodic of slave station) and cycle data (during the system cycle operation, the cycle data part of feedback).
The step of real time communication is:
Stage 0: confirm the connection of equipment, the MAC Address of receiving equipment (physical address);
Stage 1: configuration phase 2 and stages 3 desired parameters;
Stage 2: the configuration parameter of operation phase 1 is used for confirming the correct configuration of slave station system;
Stage 3: normal operation.In each cycle, carry out the cycle and aperiodic transfer of data, as shown in Figure 3, the communication process of one-period was two steps: at first controller sends MD to actuator, as synchronizing signal and provide dependent instruction and parameter; Then, each actuator sends SD to controller successively by predefined order;
Below each step process flow process is elaborated.
1, the stage 0: confirm the connection of equipment
Main website:
(1) in order to guarantee the reliable of system, official hour is divided into the some time fragment, in each time slice, main website sends MD, and slave station is replied SD.The purpose of a plurality of time slices is repeatedly, verification system reliability of operation repeatedly, occurs mistake when avoiding the later stage commencement of commercial operation;
(2) whether detect that the SD of all timeslices is received,, then repeat above process several times if lack message then show that system is unstable or unreliable.If still lack message, then system reports an error.
Slave station:
(1) in 0 incipient stage of stage, slave station is waited for and is received the MD that main website sends;
(2) if slave station receives MD and then sends response message SD, otherwise slave station is in the wait message status.
In the operation, the detailed process in " stage 0 " is as follows:
The main website allocation list is set in the controller, and each actuator is provided with the slave station allocation list, and time slice counter, a slave station counter, overtime timer, time-out count device are set in controller; The higher limit of each timer, counter is set simultaneously; The higher limit of a described slave station counter is consistent with the actuator number;
A. controller (the main website flow process is as shown in Figure 6):
W. Ethernet card, main website and slave station allocation list are carried out initialization, clear 0 to a slave station counter I, time slice counter J, expired times counter K, the initial value of overtime timer is set, and the higher limit of each counter, timer is set;
X. is time slice counter values J less than time slice counter higher limit?
Be to continue;
, do not enter the stage 1;
Y. main website broadcasts MD to slave station;
Z. wait for that slave station replys SD, does overtime timer reach higher limit?
Be to enter the f1 step;
, do not collect slave station SD;
Does the a1.MAC address exist?
Be to enter the d1 step;
, do not continue;
B1. specify logical address, SD transmitting time and deposit the slave station allocation list in for this slave station;
C1. slave station number Counter Value I+1;
Is d1.I+1 less than a slave station counter higher limit?
Be to return the z step;
, do not continue;
E1. time slice counter J+1 returns the x step;
F1. time-out count device K+1;
Is g1.K+1 less than the expired times upper limit?
Be to enter the y step;
Not, overtime withdrawing from, system reports an error;
B. actuator (the slave station flow process is as shown in Figure 7):
H1. wait for and receive the MD of main website;
Whether the MD check code of i1. receiving correct? the verification mode of described check code adopts the method for prior art to verify that the problem that below relates to is identical therewith;
Be to send SD;
, do not return the h1 step.
2, the stage 1
Main website:
In the incipient stage in stage 1, main website sends point-to-point MD configuration message to each slave station respectively by the slave station allocation list in stage 0 configuration, the time that give each slave station configuration logic address and stage 2, the stage 3 sends SD.
Wait for the SD that replys of slave station, to the last a slave station has disposed.
Check, if the SD response message of all slave stations all is received, then enter the stage 2, a level numerical control system reports an error otherwise main website makes progress.
Slave station:
Slave station is waited for and is received the MD that main website sends
Carry out verification after receiving MD, errorless as message, read then that MD information is configured and send SD to main website; Otherwise carry out fault processing;
The detailed process in " stage 1 " is as follows:
The main website allocation list is set in the controller, and each actuator is provided with the slave station allocation list, and a slave station counter, overtime timer, time-out count device are set in controller; The higher limit of each timer, counter is set simultaneously; The higher limit of a described slave station counter is consistent with the actuator number;
A. controller (the main website flow process is as shown in Figure 8):
P. clear 0 to a slave station counter I, expired times counter K, the initial value of overtime timer is set, and the higher limit of each counter, timer is set;
Q. is slave station number Counter Value I less than higher limit?
Be to continue;
, do not enter the stage 2;
R. send the time of point-to-point MD configuration message according to slave station allocation list order to slave station to (current) slave station configuration logic address and transmission SD;
The purpose of giving each slave station configuration logic address is for fear of changing hardware in case hardware damage occurs, can cause the later stage program can't continue operation like this, so software and hardware is separated, can reducing system risk like this;
Giving each slave station configuration SD transmitting time packet is to each slave station configuration timesharing transmission parameter, purpose is to make each slave station in chronological order to the main website feedback information, avoid a plurality of slave stations to upload data simultaneously and be prone to the problem of transmission collision, therefore avoided occurring the uncertainty in transmission time.
S. wait for that slave station replys SD, does overtime timer reach higher limit?
, do not continue;
Be to enter the v step;
T. collect slave station SD;
U. slave station number Counter Value I+1 returns the q step then;
Does v. time-out count device k add 1, and judges that it reaches the higher limit of time-out count device?
, do not return the r step;
Be, overtime withdrawing from, system reports an error;
B. actuator (the slave station flow process is as shown in Figure 9):
V-a. receive MD;
Whether the MD that v-b. receives valid data?
Be to continue;
Not, system reports an error;
V-d. read among the MD configuration information and be saved in the slave station allocation list;
V-e. send SD, return the v-a step then;
3, the stage 2
Main website:
(1) main website sends MD in official hour, and slave station is replied SD.
(2) main website judges according to the response time of slave station allocation list and slave station whether the parameter configuration of slave station is correct.If parameter configuration is correct, then repeat this process several times, to guarantee the stability of system.If incorrect stage 1, rearranging logic address and the SD transmitting time parameter then returned.
Slave station:
(1) waits for the MD message that receives the main website transmission;
(2) carry out verification after receiving the MD message, errorless as message, then start and send timer, the timer time is to sending the SD message to main website; Otherwise carry out fault processing;
The detailed process in stage 2 is as follows:
Cycle timer is set, time slice counter, expired times counter, overtime timer, and the higher limit of each counter, timer is set;
A. controller (the main website flow process is as shown in Figure 10):
J1. start-up period timer, clear 0 to time slice counter J, expired times counter K, the initial value of overtime timer is set, and the higher limit of each counter, timer is set;
Does k1. time slice counter values J reach higher limit?
, do not continue;
Be to enter the stage 3;
L1. to all slave station broadcasting MD;
M1. to wait for receiving SD, does overtime timer reach the upper limit?
Be to enter the q1 step;
, do not continue;
N1. receive the SD that returns;
Does o1. the time of cycle timer setting arrive?
Be to continue;
, do not return the m1 step;
P1. whether the order of returning according to slave station allocation list identification SD correct?
Be that time slice counter values J+1 returns the k1 step;
, do not enter the r1 step;
Does q1. time-out count device K+1 reach the expired times upper limit?
, do not return the l1 step;
Be to enter the r1 step;
R1. returning the stage 1 reconfigures parameter;
B. actuator (the slave station flow process is as shown in Figure 11):
S1. receive MD;
Whether the MD that t1. receives valid data?
Be to continue;
Not, system reports an error;
U1. start the SD transmission timer;
V1. information is write SD;
W1. timer time then sends SD, returns the s1 step then.
4, the stage 3: this stage is a normal operating phase:
Main website:
(1) according to the time configuration information in stage 2, a timer is opened by main website, during timed sending MD, and prepares to receive successively each slave station SD;
(2) the main website circulation receives the SD of each slave station, and carries out verification, if correctly then continue, otherwise carries out fault processing;
(3) read among the SD information and handle and prepare the MD data of following one-period;
(4) the waiting timer time, enter new transmission cycle;
Slave station:
(1) receives MD, and open SD transmission timer;
(2) slave station reads this slave station information line correlation of going forward side by side and handles from MD;
(3) according to the slave station state SD is set;
Timer to be sent such as slave station then back sends SD.
The detailed process in stage 3 is as follows:
Cycle timer, a slave station counter are set in controller, transmission timer is set in the actuator;
A. controller (the main website flow process is as shown in Figure 12):
A. start-up period timer, the purpose of cycle timer are the adjacent time interval that sends data for twice of controlling center, avoid occurring conflict;
B. to all slave station broadcasting MD;
C. wait for and receive slave station message SD;
Whether the SD that d. receives valid data?
Be to continue;
Not, system reports an error;
E. buffer memory SD information;
Do f. whether all slave station SD all receive?
Be to continue;
, do not return the c step;
G. main website handles slave station SD, and prepares the MD of following one-period;
Does h. the timing of cycle timer arrive?
Be to return the b step;
Not, wait for, repeat the h step;
B. actuator (the slave station flow process is as shown in Figure 13):
I. receive MD;
Whether the MD that j. receives valid data?
Be to continue;
Not, system reports an error;
K. start the SD transmission timer;
L. reading this slave station information line correlation of going forward side by side from MD handles;
M. according to the slave station state SD information is set, is specially, slave station writes SD according to the information as the state feedback of servo, main shaft etc. that connects with it;
N. timer time then sends SD, returns the i step then.
Claims (2)
1. digital control system digital communication method based on ethernet technology, between the controller of digital control system and actuator, be connected ethernet hardware, and in ethernet frame format the definition digital control system the data message form, and designed real-time communication protocol, adopt stelliform connection topology configuration to be connected between described controller and all actuators; The heading form of described digital control system is identical with the frame head form of Ethernet, and the message trailer form of digital control system is identical with the postamble form of Ethernet; It is characterized in that:
Cycle timer, a slave station counter are set in controller, transmission timer is set in the actuator;
Described real-time communication protocol is as follows:
(1) stage 0: confirm the connection between controller and all actuators, enter the stage 1 after this process is errorless;
(2) stage 1: stage 2 and required messaging parameter of stages 3 are configured, and specifically comprise: the main website allocation list is set in the controller, and each actuator is provided with the slave station allocation list, and a slave station counter, overtime timer, time-out count device are set in controller; The higher limit of each timer, counter is set simultaneously; The higher limit of a described slave station counter is consistent with the actuator number;
A. controller:
P. clear 0 to a slave station counter I, expired times counter K, the initial value of overtime timer is set, and the higher limit of each counter, timer is set;
Q. is slave station number Counter Value I less than higher limit?
Be to continue;
, do not enter the stage 2;
R. send the time of point-to-point MD configuration message according to slave station allocation list order to slave station to (current) slave station configuration logic address and transmission SD;
S. wait for that slave station replys SD, does overtime timer reach higher limit?
, do not continue;
Be to enter the v step;
T. collect slave station SD;
U. slave station number Counter Value I+1 returns the q step then;
Does v. time-out count device k add 1, and judges that it reaches the higher limit of time-out count device?
, do not return the r step;
Be, overtime withdrawing from, system reports an error;
B. actuator:
V-a. receive MD;
Whether the MD that v-b. receives valid data?
Be to continue;
Not, system reports an error;
V-d. read among the MD configuration information and be saved in the slave station allocation list;
V-e. send SD, return the v-a step then;
Above-mentioned messaging parameter is configured process and enters the stage 2 after errorless;
(3) stage 2: the configuration parameter to the stage 1 is tried out, specifically comprises: cycle timer is set, and time slice counter, expired times counter, overtime timer, and the higher limit of each counter, timer is set;
A. controller:
J1. start-up period timer, clear 0 to time slice counter J, expired times counter K, the initial value of overtime timer is set, and the higher limit of each counter, timer is set;
Does k1. time slice counter values J reach higher limit?
, do not continue;
Be to enter the stage 3;
L1. to all slave station broadcasting MD;
M1. to wait for receiving SD, does overtime timer reach the upper limit?
Be to enter the q1 step;
, do not continue;
N1. receive the SD that returns;
Does o1. the time of cycle timer setting arrive?
Be to continue;
, do not return the m1 step;
P1. whether the order of returning according to slave station allocation list identification SD correct?
Be that time slice counter values J+1 returns the k1 step;
, do not enter the r1 step;
Does q1. time-out count device K+1 reach the expired times upper limit?
, do not return 11 steps;
Be to enter the r1 step;
R1. returning the stage 1 reconfigures parameter;
B. actuator:
S1. receive MD;
Whether the MD that t1. receives valid data?
Be to continue;
Not, system reports an error;
U1. start the SD transmission timer;
V1. information is write SD;
W1. timer time then sends SD, returns the s1 step then;
Enter the stage 3 after above-mentioned trial run process is errorless;
Above-mentioned three processes are the preparatory stage;
(4) stage 3: normal operating phase, this process is followed successively by:
A. controller, i.e. main website:
A. start-up period timer;
B. to all slave station broadcasting MD;
C. wait for and receive slave station message SD;
Whether the SD that d. receives valid data?
Be to continue;
Not, system reports an error;
E. buffer memory SD information;
Do f. whether all slave station SD all receive?
Be to continue;
, do not return the c step;
G. main website handles slave station SD, and prepares the MD of following one-period;
Does h. the timing of cycle timer arrive?
Be to return the b step;
Not, wait for, repeat the h step;
B. actuator, i.e. slave station:
I. receive MD;
Whether the MD that j. receives valid data?
Be to continue;
Not, system reports an error;
K. start the SD transmission timer;
L. reading this slave station information line correlation of going forward side by side from MD handles;
M. according to the slave station state SD information is set;
N. timer time then sends SD, returns the i step then.
2. the digital control system digital communication method based on ethernet technology according to claim 1 is characterized in that the detailed process in " stage 0 " is as follows:
The main website allocation list is set in the controller, and each actuator is provided with the slave station allocation list, and time slice counter, a slave station counter, overtime timer, time-out count device are set in controller; The higher limit of each timer, counter is set simultaneously; The higher limit of a described slave station counter is consistent with the actuator number;
A. controller:
W. Ethernet card, main website and slave station allocation list are carried out initialization, clear 0 to a slave station counter I, time slice counter J, expired times counter K, the initial value of overtime timer is set, and the higher limit of each counter, timer is set;
X. is time slice counter values J less than time slice counter higher limit?
Be to continue;
, do not enter the stage 1;
Y. main website broadcasts MD to slave station;
Z. wait for that slave station replys SD, does overtime timer reach higher limit?
Be to enter the f1 step;
, do not collect slave station SD;
Does the a1.MAC address exist?
Be to enter the d1 step;
, do not continue;
B1. specify logical address, SD transmitting time and deposit the slave station allocation list in for this slave station;
C1. slave station number Counter Value I+1;
Is d1.I+1 less than a slave station counter higher limit?
Be to return the z step;
, do not continue;
E1. time slice counter J+1 returns the x step;
F1. time-out count device K+1;
Is g1.K+1 less than the expired times upper limit?
Be to enter the y step;
Not, overtime withdrawing from, system reports an error;
B. actuator:
H1. wait for and receive the MD of main website;
Whether the MD check code of i1. receiving correct?
Be to send SD;
, do not return the h1 step.
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| CN100594707C true CN100594707C (en) | 2010-03-17 |
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| CN101226397A (en) * | 2008-02-04 | 2008-07-23 | 南京理工大学 | High reliability distributed Ethernet test control system |
| CN101631016B (en) * | 2009-04-14 | 2011-09-14 | 华中科技大学 | Time synchronization method of fieldbus |
| CN102354192B (en) * | 2011-09-08 | 2013-11-06 | 苏州谷夫道自动化科技有限公司 | Control method for digital integrated bus type numerical control system |
| CN103076780B (en) * | 2012-12-28 | 2015-05-06 | 广州数控设备有限公司 | Control method based on industrial Ethernet bus |
| CN106292588A (en) * | 2016-08-19 | 2017-01-04 | 苏州新代数控设备有限公司 | Digit Control Machine Tool process data distance transmission system |
| CN114800492A (en) * | 2022-04-11 | 2022-07-29 | 深圳市大族机器人有限公司 | Method, system, computer device and storage medium for controlling slave station terminal |
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