CN106789258A - The collocation method of EPA - Google Patents
The collocation method of EPA Download PDFInfo
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- CN106789258A CN106789258A CN201611210710.2A CN201611210710A CN106789258A CN 106789258 A CN106789258 A CN 106789258A CN 201611210710 A CN201611210710 A CN 201611210710A CN 106789258 A CN106789258 A CN 106789258A
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- slave station
- facility information
- protocol slave
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- retrieval bag
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40006—Architecture of a communication node
- H04L12/40013—Details regarding a bus controller
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/4013—Management of data rate on the bus
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
- H04L41/08—Configuration management of networks or network elements
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L2101/00—Indexing scheme associated with group H04L61/00
- H04L2101/60—Types of network addresses
- H04L2101/618—Details of network addresses
- H04L2101/627—Controller area network [CAN] identifiers
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- Communication Control (AREA)
Abstract
The present invention relates to industrial Ethernet technology field, a kind of collocation method of EPA is disclosed.In the present invention, the method includes：After initialization terminates, the retrieval bag of generation is sent to bus by the first agreement main website；Each first protocol slave station receives retrieval bag from bus successively according to the order of physical connection；Wherein, previous first protocol slave station is sent to next first protocol slave station retrieval bag after by the correspondence position of facility information write-in retrieval bag；After all first protocol slave stations are by respective facility information write-in retrieval bag, retrieval bag is back to the first agreement main website；The facility information of each first protocol slave station is extracted in the retrieval bag received from the first agreement main website, the facility information according to each first protocol slave station for extracting carries out configuration.Using the collocation method of EPA of the present invention so that without addition device description file manually, you can be automatically performed configuration.
Description
Technical field
The present invention relates to industrial Ethernet technology field, more particularly to a kind of collocation method of EPA.
Background technology
Existing Fast Ethernet bus, by taking EtherCAT as an example, with a high speed, application layer protocol is abundant, net synchronization capability
High the advantages of, the application at universal industrial control scene is more and more extensive.
Realize it is of the invention during, inventors herein have recognized that：In existing industry ethernet, main website is being carried out
, it is necessary to can just know slave station information using device description file during configuration, and device description file may then need user manual
Addition, and when slave station equipment quantity or type change every time, be required for being configured in master device side manual modification configuration
Can just be continuing with.For example, for EtherCAT ethernet types, when configuration is carried out, user is needed in upper EtherCAT
Device description file is added in Master Station Software and configuration is carried out according to the topological structure of current EtherCAT network can just make bus
Normal work.《ETG_Brochure_CN.pdf》In, Page 13 is described in detail to above-mentioned situation, and here is omitted.
In other industrial field bus, also all in the presence of same drawback, it is necessary to carry out configuration configuration manually in Master Station Software side,
Just may be used.
The content of the invention
The purpose of embodiment of the present invention is to provide a kind of collocation method of EPA so that without addition manually
Device description file, you can be automatically performed configuration.
In order to solve the above technical problems, embodiments of the present invention provide a kind of collocation method of EPA, bag
Include：After initialization terminates, the retrieval bag of generation is sent to bus by the first agreement main website；Each first protocol slave station is according to physics
The order of connection receives the retrieval bag from the bus successively；Wherein, previous first protocol slave station is by facility information
After the correspondence position of the write-in retrieval bag, the retrieval bag is sent to next first protocol slave station；When all first associations
After view slave station is by respective facility information write-in retrieval bag, the retrieval bag is back to the first agreement main website；From institute
The facility information that each first protocol slave station is extracted in the retrieval bag that the first agreement main website receives is stated, according to what is extracted
The facility information of each first protocol slave station carries out configuration.
Embodiment of the present invention in terms of existing technologies, upon initialization, the first agreement main website will generate inspection
Rope bag is sent to bus, and each first protocol slave station then receives retrieval bag from bus successively according to the order of physical connection, wherein, it is preceding
One first protocol slave station by facility information write-in retrieval bag correspondence position after, will retrieval bag send to next first agreement from
Stand, until all of first protocol slave station is by respective facility information write-in retrieval bag.Then, retrieval bag is back to first
Agreement main website.The facility information of each first protocol slave station is extracted in the retrieval bag received from the first agreement main website, using each
The facility information of the first protocol slave station carries out configuration.Because the EPA of present embodiment is when configuration is carried out, each slave station
In the retrieval bag that respective facility information write-in main website is sent, so as to avoid the equipment for adding each slave station manually in main website side
Description file, and because each slave station is to receive retrieval bag from bus according to physical connection order, therefore main website can be according to each
The order of slave station equipment information write-in retrieval bag obtains the topological structure of each slave station.Obtaining the facility information of each slave station and opening up
Flutter after structure, you can complete configuration.Therefore, the collocation method of the EPA of present embodiment causes that slave station need not be added
Device description file can carry out network configuration.
In addition, extracting each first protocol slave station in the retrieval bag received from the first agreement main website
Facility information after, also include：Facility information according to extracting sets up facility information area and integrated data area；It is wherein described
Facility information area includes the facility information of each first protocol slave station, and the integrated data area is used to cache each first association
Discuss the state and data of slave station.So that application program directly can read from the facility information area and integrated data area for setting up
The data and state of each first protocol slave station, are that the simplification of application layer protocol lays the first stone.
In addition, the facility information includes one of following information or its any combination：First protocol slave station node type, expansion
Exhibition type, link chip version number, MCU version numbers, the first protocol slave station write length, the first protocol slave station and read length.
In addition, the facility information of each first protocol slave station is stored as a data structure in the facility information area
Body.Consequently facilitating application program quickly reads the facility information of each first protocol slave station.
In addition, the integrated data area is used to cache the state sum of each first protocol slave station in each cycle period
According to.So that the state and data of each first protocol slave station are updated to integrated data area in real time.
In addition, the integrated data area is used to be obtained for application program the state and data of each first protocol slave station.
In addition, the integrated data area is used to be obtained for application program the state and data of each first protocol slave station.
Application program directly reads facility information, state and the data of each first protocol slave station in facility information area and integrated data area,
So as to enormously simplify application layer.
In addition, when the first agreement main website is also as second protocol slave station, the main website of the first agreement main website sets
The standby agreement for being additionally operable to run the second protocol slave station.Set such that it is able to save the gateway between the first agreement and second protocol
It is standby, and improve the synchronism of data.
In addition, the retrieval bag is using following any one data structure：The retrieval includes that M is multiplied by N number of byte；Its
In, M is the byte number for storing each the first protocol slave station facility information, and N is the number of default first protocol slave station；
Or, the retrieval includes some bytes；Wherein, each first protocol slave station believes respective equipment according to tandem
Breath writes in some bytes successively.
Brief description of the drawings
Fig. 1 is the flow chart of the collocation method of the EPA according to first embodiment of the invention；
Fig. 2 is the main website operating process example of the collocation method using the EPA of first embodiment of the invention
Figure；
Fig. 3 is the flow chart of the collocation method of the EPA according to second embodiment of the invention.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing to each reality of the invention
The mode of applying is explained in detail.However, it will be understood by those skilled in the art that in each implementation method of the invention,
In order that reader more fully understands the application and proposes many ins and outs.But, even if without these ins and outs and base
Many variations and modification in following implementation method, it is also possible to realize the application technical scheme required for protection.
First embodiment of the invention is related to a kind of collocation method of EPA, and its idiographic flow is as shown in Figure 1.
The embodiment of Fig. 1 can apply to the master-salve station configuration of the various EPAs of such as EtherCAT, Powerlink etc..Fig. 1
, in the communication establishment stage of EPA, slave unit (slave station) will according to the retrieval bag of main equipment (main website) for the method for embodiment
Equipment of itself information informs main equipment, and main equipment sets up the model of whole network according to the facility information that each slave unit is provided, from
And configuration function is completed, just incision circulates communication mode afterwards.
Specifically, the collocation method of the EPA of Fig. 1 includes：
Step 101：After initialization terminates, the retrieval bag of generation is sent to bus by the first agreement main website.
In step 101, the agreement that the EPA that the first agreement main website is constituted with each first protocol slave station is used claims
Be the first agreement, for convenience, subsequently the first agreement can be referred to as this agreement, and the first agreement main website as slave station group
Into the agreement that is used of another upper strata EPA, referred to as second protocol.Networking of the present embodiment to EPA
Mode is not specifically limited.
In step 101, in the main website and each slave station in the EPA of the first agreement after electricity, the first agreement main website
Enter init state with each first protocol slave station, and after initialization terminates, the first agreement main website is ready for sending automatically retrieval
Bag.Wherein, the facility information for storing each first protocol slave station is wrapped in the retrieval.Retrieval bag can be using following any one number
According to structure：Such as retrieval includes that M is multiplied by N number of byte, and M, N are positive integer, wherein, M is for storing each first agreement
The byte number of slave station equipment information, N is the number of default first protocol slave station, it is therefore possible to use M is multiplied by N number of fixation
The byte of number collects the facility information of each first protocol slave station.In the retrieval bag of present embodiment, M for example takes 8, as each
First protocol slave station distributes 8 bytes for being used for storing device information, and N for example takes the maximum that 63, N generally takes the support of the first agreement
Load (slave station) number.Wherein, the value of M and N can be set according to being actually needed, and present embodiment is not made to its numerical value
Concrete restriction.The data frame for retrieving bag is transferred to link layer chip by the first agreement main website after retrieval bag is configured, and by chain
Road floor chip is sent in bus.
In present embodiment, the facility information of each first protocol slave station for example includes one of following information or its any group
Close：First protocol slave station node type, expansion type, link chip version number, MCU (Main Computational Unit,
Main computing unit) version number, the first protocol slave station write length, the first protocol slave station and read length.Equipment in present embodiment
Information is used to substitute the device description file for being added in the software side of the first agreement main website in the prior art, therefore may be referred to set
The facility information of write-in is needed in standby description file configuration retrieval bag.
In another embodiment, some bytes in retrieval bag can not also be grouped, and so, each first protocol slave station is then
Respective facility information can successively be write into some bytes that retrieval includes from front to back according to the order for receiving retrieval bag
It is interior.Wherein, each first protocol slave station for example can first write the node of each first protocol slave station when respective facility information is write
Type, and the first agreement main website can then judge the number of the first protocol slave station according to node type.
Step 102：Each first protocol slave station receives retrieval bag from bus successively according to the order of physical connection, wherein, it is preceding
One first protocol slave station is sent to next first agreement retrieval bag after by the correspondence position of facility information write-in retrieval bag
Slave station.
Step 103：After all first protocol slave stations are by respective facility information write-in retrieval bag, retrieval bag is returned
To the first agreement main website.
Step 104：The facility information of each first protocol slave station is extracted in the retrieval bag received from the first agreement main website,
Facility information according to each first protocol slave station for extracting carries out configuration.
In step 102, the network topology structure of the first agreement main website and each first protocol slave station be, for example, linear structure or
Loop configuration.When each first protocol slave station is received and writes respective facility information, first node is (i.e. true according to physical connection order
First fixed the first protocol slave station) retrieval bag is first received, the facility information of itself is summarized as 8 numbers of byte by first node
According to then first node location in write-in retrieval bag is sent to next node (i.e. according to physics retrieval bag by bus
The node that the order of connection determines).The rest may be inferred, until last first protocol slave station writes the facility information of itself in network
Enter retrieval bag.In step 103, in linear structure, last first protocol slave station (node) will be written with setting for itself
The retrieval bag of standby information is forwarded back to previous node automatically, and each node is no longer processed to retrieval bag, but directly successively will retrieval
Bag is forwarded back to a node, and retrieval bag finally is back into main website；In loop configuration, last the first protocol slave station (section
Point) the retrieval bag continuation of the facility information of itself will be written with along the network physical order of connection, it is transmitted to main website.And main website can be with
The first protocol slave station according to retrieval bag is returned determines network topology structure, for example, when retrieval bag is by first in retrieval bag
When individual first protocol slave station returns to main website, it may be determined that network topology structure is line style, when retrieval bag is by retrieval bag
When last first protocol slave station returns to main website, it may be determined that network topology structure is ring-like.In actual applications, can be with
The order of each first protocol slave station in retrieval bag and return retrieval are wrapped to the first protocol slave station of the first agreement main website
To determine network topology structure.It should be appreciated that those skilled in the art can design various with actual network topology structure pair
The detection method of the network topology structure answered, present embodiment is not specifically limited to the determination method of network topology structure.
In step 104, the first agreement main website extracts each first protocol slave station in network from the retrieval bag for receiving
Facility information.For example, according to 8 bytes, one structure of the first protocol slave station of correspondence, by the facility information of each first protocol slave station
Extract.
Fig. 2 is the operating process exemplary plot of the main website of the first agreement EPA.This embodiment party is illustrated with reference to Fig. 2
The application of the collocation method of the EPA of formula.
Specifically, as shown in Fig. 2 the operating process of the first agreement main website includes：
Step 201：Initialization.Wherein, in initial phase, the first agreement master device be used for set time register,
Control register etc. is sent, the first agreement main website sends communication reset packet, waits 10 milliseconds to complete initialization after reset.
Step 202：Send automatically retrieval bag.First agreement main website prepares retrieval bag, and retrieval bag is sent to bus.
Step 203：Receive retrieval bag.Wherein, each first protocol slave station in network is filled in by respective facility information
Enter after retrieval bag, retrieval bag is back to main website, now, the first agreement main website can receive the retrieval bag of return.
Step 204：Transmission board number sets bag.
Step 205：Receiver board number sets bag.
Step 206：Send time synchronized bag.
Step 207：Receive time synchronized bag.
Step 208：Wait 10 milliseconds.
Step 209：Into circulation communication cycle.
In step 209, each circulation communication cycle in, the first agreement main station judging whether have serial data packet need hair
Send or receive, if there are P2P packets needs to send or receive, and sent according to judged result or receive serial data
Bag or P2P packets.
In summary, upon initialization, the equipment without obtaining each slave station from software side describes text for the first agreement main website
Part, but by way of sending retrieval bag (configuration frame) so that the write-in of respective facility information is retrieved bag by each slave station, so that
The facility information of each slave station is obtained, simultaneously as each slave station is to receive retrieval bag according to physical connection order, so main website can
To determine therefrom that the topological structure of network, so as to complete the configuration of network.Therefore, using the EPA of present embodiment
Collocation method, can simplify the operating procedure of main equipment side, it is no longer necessary to which user carries out configuration on control system main equipment and matches somebody with somebody
Put, it is only necessary to which main equipment issues configuration frame (retrieval bag), and according to the information of frame (the retrieval bag that slave station is returned) is returned, is set by master
Standby facility information and device type automatically to slave unit is modeled, and so as to reach rapid configuration, and then improves user
Experience.
Second embodiment of the present invention is related to a kind of collocation method of EPA.Second embodiment is real first
Apply and make improvement on the basis of mode, mainly the improvement is that：In this second embodiment, carried according in first embodiment
The facility information of each slave station for taking sets up integrated data area and facility information area, and setting for each slave station is stored in facility information area
Standby information, stores the data and state of each slave station in integrated data area, then provides facility information area and integrated data area
Accessed to application program, such that it is able to simplify EPA application layer.
Specifically, the EPA of present embodiment collocation method as shown in figure 3, including：
Step 301：After initialization terminates, the retrieval bag of generation is sent to bus by the first agreement main website.
Step 302：Each first protocol slave station receives retrieval bag from bus successively according to the order of physical connection.Wherein, it is preceding
One first protocol slave station is sent to next first agreement retrieval bag after by the correspondence position of facility information write-in retrieval bag
Slave station.
Step 303：After all first protocol slave stations are by respective facility information write-in retrieval bag, retrieval bag is returned
To the first agreement main website.
Step 304：The facility information of each first protocol slave station is extracted in the retrieval bag received from the first agreement main website,
Facility information according to each first protocol slave station for extracting carries out configuration.
Wherein, after the step 304, the first agreement main website and each first protocol slave station enter circulation communication cycle.
Step 305：Facility information according to extracting sets up facility information area, integrated data area.
In step 305, the facility information of each first protocol slave station that the first agreement main website will be extracted is stored in equipment
The facility information of each first protocol slave station is stored as a data structure in the information area, and facility information area.Wherein, the data
In structure, the facility information of each the first protocol slave station association tissue, for example, the type of each first protocol slave station, be input into it is defeated
Go out the associated storages such as length.Meanwhile, the integrated data area of each first protocol slave station is also set up according to the facility information for extracting, it is comprehensive
Closing data field is used to cache the state and data of each first protocol slave station.In present embodiment, the storage of integrated data area is pure
The state and real time data of pure each node.It can be by respectively from node data according to node sequence, data length organization of unity.
Specifically, integrated data area is used to cache the state and data of each first protocol slave station in each cycle period.It follows that
In step 305, by setting up the facility information area and integrated data area of each first protocol slave station, and real-time update integrated data area
In each first protocol slave station state and data, just obtain the state and data of each slave station in network.
And in the present embodiment, integrated data area is used directly for obtaining each first protocol slave station for application program
State and data, and facility information area is used directly for being obtained for application program the facility information of each first protocol slave station.
Therefore, the facility information area and integrated data area of present embodiment can be used for realizing open application layer protocol.
Below the realization of the EPA application layer of present embodiment and prior art are contrasted to illustrate this reality
The characteristics of applying the open application layer of mode.The EPA of current main flow, its application layer protocol is more with existing industry spot
Based on bus protocol, such as CANopen, DeviceNet, Profibus etc., its advantage is agreement mature and reliable, feature-rich, son
Agreement is perfect.But also just because of agreement mature and reliable, cause its data limited flexibility, it is open poor.Therefore its son sets
Standby exploitation must comply with related protocol standard, if do not followed, then equipment may be caused normally to use, or due to not abiding by
Certain sub-protocol is followed, is occurred situations such as cause the sub-protocol dysfunction.
And it can be seen from description above, in present embodiment, application program directly can set in the acquisition of the slave unit information area
Standby information, the state and data of each slave station are obtained from integrated data area.And according to the facility information for obtaining, operation integrated data area
Corresponding data.Therefore, the application layer data of present embodiment is very flexible.
It is noted that in actual applications, the first agreement main website of present embodiment can also be multiplexed with the second association
View slave station, now, the master device of the first agreement main website is also used to run the agreement of second protocol slave station simultaneously.By being described above
Understand, the application layer protocol of the first agreement main website of present embodiment is succinct, state machine to the first agreement master device (for example
MCU performance consumption very little), it is ensured that MCU also has enough abilities to run the application program of other agreements, due to being same
Two application layer programs of operation in MCU, so the bus performance of other agreements (second protocol) will not be not only reduced, but also can
To ensure the synchronism of data between the first agreement and second protocol.Therefore, present embodiment can be realized main equipment as another
The slave unit of one mainstream industry Ethernet, so as to realize two kinds of conversions of agreement, for example this agreement to EtherCAT or
The conversion of Powerlink.
Therefore, the application including but not limited to scenario described below of the application layer implementation that present embodiment is proposed：
1st, the distribution of main website MCU and application program across subnet.
Specifically, main website MCU also serves as EtherCAT or Powerlink both as the main website of this high-speed bus system
Deng the slave station of other bus systems.
2nd, the data on main website MCU can be forwarded directly in other bus systems such as EtherCAT, by other total linear systems
Application program treatment on system.
3rd, the main website MCU being described above is used to complete the protocol conversion between two kinds of bus systems.
4th, main website MCU is also used as the master control of whole system, it is not necessary to applied across in the conversion of agreement, and main website MCU
Program can immediate operand evidence.
5th, online configuration info area (facility information area and integrated data area).According to the master-salve station self-configuring work(being described above
The introduction of energy, it is circulation that the data that main website MCU is provided contain facility information, state, data of each slave station etc., and these data
Data field, thus can real-time online be supplied to the current configuration info of application program, reduce the trouble of human configuration.
6th, facility information area and integrated data area can be also used for bus diagnostic, and application program is by comparing two neighboring week
The configuration info of phase, can obtain state of Current bus etc..
7th, integrated data area is only used for storing the state and data of each slave station, and itself reduces redundancy letter continuously without interval
Breath, such that it is able to improve the utilization ratio of data.
8th, the facility information that application program is provided according to facility information area, it is comprehensive according to node sequence, data length operation
The data of data field.
Can be not difficult to find out from said circumstances, the open application layer protocol of present embodiment with following features：
Concept of the application layer protocol of present embodiment without fixed mapping and object.Whole system is not related to object, right
As dictionary etc. solidifies concept, the tissue of all data is constituted by two parts：1st, facility information area, 2, integrated data area.Using
The work such as program need not lay in, Interpretive object dictionary, obtain the facility information in facility information area, according to facility information, operation
The corresponding data in integrated data area.
Application layer protocol is not influenceed by system-level topological structure.System-level topology refers to opening up for whole control system herein
Flutter, and be not only the topology of this high-speed bus system.Such as this high-speed bus system as other bus systems a subnet
When, application layer program can be then distributed in other bus systems；If without other bus systems, application layer program is then distributed in main website
On MCU.
The open application layer protocol that the application is proposed, application layer does not have fixed protocol, need to only provide from nodal information, bag
Include station number, data length, data address etc..Completely in accordance with facility information, data field is succinct, invalid number for application layer protocol exploitation
According to or configuration data it is few, improve the utilization rate of bandwidth.Simultaneously can realize using main equipment as mainstream industry Ethernet from
Equipment, will not reduce the bus performance of other agreements, and ensure that the synchronism of data well.
Therefore, the open application layer protocol of present embodiment, in can solve the problem that existing EPA, application layer journey
Sequence need to follow strictly each consensus standard, the problem of the high standard slave station of procurement price be caused using complexity, needs, while may be used also
To solve the problems, such as that bus performance loses caused by protocol conversion.
In sum, the collocation method of the EPA for being provided using present embodiment, main equipment is obtained by configuring frame
The information of slave unit is taken, configuration is voluntarily carried out to network topology, and application layer data can flexibly represented, can be adapted to various other
EPA bus, there is provided flexible, powerful across protocol conversion function.And application layer has the characteristic of flexible distributed,
Can be distributed in the application layer of other bus systems, can also be distributed on main website MCU, while object dictionary not solidified etc. is solid
Determine concept, application program by operate two facility informations and with integrated data area, you can complete to the control from node.
Above the step of various methods divide, be intended merely to description it is clear, can be merged into when realizing a step or
Some steps are split, multiple steps are decomposed into, as long as comprising identical logical relation, all in the protection domain of this patent
It is interior；To adding inessential modification in algorithm or in flow or introducing inessential design, but its algorithm is not changed
With the core design of flow all in the protection domain of the patent.
It will be appreciated by those skilled in the art that all or part of step in realizing above-described embodiment method can be by
Program is completed to instruct the hardware of correlation, and the program storage is in a storage medium, including some instructions are used to so that one
Individual equipment (can be single-chip microcomputer, chip etc.) or processor (processor) perform the application each embodiment methods described
All or part of step.And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can store journey
The medium of sequence code.
It will be understood by those skilled in the art that the respective embodiments described above are to realize specific embodiment of the invention,
And in actual applications, can to it, various changes can be made in the form and details, without departing from the spirit and scope of the present invention.
Claims (10)
1. a kind of collocation method of EPA, it is characterised in that including：
After initialization terminates, the retrieval bag of generation is sent to bus by the first agreement main website；
Each first protocol slave station receives the retrieval bag from the bus successively according to the order of physical connection；Wherein, previous institute
The first protocol slave station is stated after the correspondence position that facility information is write the retrieval bag, the retrieval bag is sent to next
First protocol slave station；After all first protocol slave stations are by respective facility information write-in retrieval bag, the retrieval bag is returned
It is back to the first agreement main website；
The facility information of each first protocol slave station is extracted in the retrieval bag received from the first agreement main website, according to
The facility information of each described first protocol slave station for extracting carries out configuration.
2. the collocation method of EPA according to claim 1, it is characterised in that described from first agreement
Extracted in the retrieval bag that main website is received after the facility information of each first protocol slave station, also included：
Facility information according to extracting sets up facility information area and integrated data area；Wherein described facility information area includes each institute
The facility information of the first protocol slave station is stated, the integrated data area is used to cache the state sum of each first protocol slave station
According to.
3. the collocation method of EPA according to claim 1, it is characterised in that the facility information includes following
One of information or its any combination：
First protocol slave station node type, expansion type, link chip version number, MCU version numbers, the first protocol slave station write length
Degree, the first protocol slave station read length.
4. the collocation method of EPA according to claim 2, it is characterised in that each institute in the facility information area
The facility information for stating the first protocol slave station is stored as a data structure.
5. the collocation method of EPA according to claim 2, it is characterised in that the integrated data area is used to delay
Deposit the state and data of each first protocol slave station in each cycle period.
6. the collocation method of EPA according to claim 5, it is characterised in that the integrated data area is used to supply
Application program obtains the state and data of each first protocol slave station.
7. the collocation method of EPA according to claim 2, it is characterised in that the facility information area is used to supply
Application program obtains the facility information of each first protocol slave station.
8. the collocation method of EPA according to claim 1, it is characterised in that in the first agreement main website also
During as second protocol slave station, the master device of the first agreement main website is additionally operable to run the association of the second protocol slave station
View.
9. the collocation method of EPA according to claim 1, it is characterised in that the retrieval bag is appointed using following
Anticipate a kind of data structure：
The retrieval includes that M is multiplied by N number of byte；Wherein, M is the word for storing the facility information of each the first protocol slave station
Joint number mesh, N is the number of default first protocol slave station；Or,
The retrieval includes some bytes；Wherein, each first protocol slave station believes respective equipment according to tandem
Breath writes in some bytes successively.
10. the collocation method of EPA according to claim 8, it is characterised in that the second protocol include with
Descend any one：
EtherCAT、Powerlink。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN109450763A (en) * | 2018-12-29 | 2019-03-08 | 上海新时达机器人有限公司 | A kind of bus expanding method, gateway and extended bus system |
| CN109669372A (en) * | 2018-12-24 | 2019-04-23 | 苏州谷夫道自动化科技有限公司 | A kind of configuration method and device |
| CN110166335A (en) * | 2019-04-02 | 2019-08-23 | 深圳市汇川技术股份有限公司 | EtherCAT slave station and slave station synchronous communication method, control system, equipment and storage medium |
| CN110398943A (en) * | 2019-07-17 | 2019-11-01 | 上海电机学院 | A kind of multi-layer three-dimensional experiment platform of control system and its building method |
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| CN112405107A (en) * | 2020-11-26 | 2021-02-26 | 北京航空航天大学 | Numerical control machine tool communication heterogeneous feeding system and debugging method thereof |
| CN113364638A (en) * | 2021-08-11 | 2021-09-07 | 浙江国利信安科技有限公司 | Method, electronic device and storage medium for EPA networking |
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| CN109450763B (en) * | 2018-12-29 | 2021-07-23 | 上海新时达机器人有限公司 | Bus expansion method, gateway and bus expansion system |
| CN110166335A (en) * | 2019-04-02 | 2019-08-23 | 深圳市汇川技术股份有限公司 | EtherCAT slave station and slave station synchronous communication method, control system, equipment and storage medium |
| CN110166335B (en) * | 2019-04-02 | 2021-08-27 | 深圳市汇川技术股份有限公司 | EtherCAT slave station and slave station synchronous communication method, control system, equipment and storage medium |
| CN110398943A (en) * | 2019-07-17 | 2019-11-01 | 上海电机学院 | A kind of multi-layer three-dimensional experiment platform of control system and its building method |
| CN111176164A (en) * | 2019-12-30 | 2020-05-19 | 深圳市英威腾电气股份有限公司 | Method, device and medium for expanding multiple remote input and output modules |
| CN111176164B (en) * | 2019-12-30 | 2021-03-30 | 深圳市英威腾电气股份有限公司 | Method, device and medium for expanding multiple remote input and output modules |
| CN111935196A (en) * | 2020-10-13 | 2020-11-13 | 之江实验室 | Protocol conversion method of Modbus and dnp3 based on EdgeX Foundation |
| CN111935196B (en) * | 2020-10-13 | 2021-03-23 | 之江实验室 | Protocol conversion method of Modbus and dnp3 based on EdgeX Foundation |
| CN112405107A (en) * | 2020-11-26 | 2021-02-26 | 北京航空航天大学 | Numerical control machine tool communication heterogeneous feeding system and debugging method thereof |
| CN112405107B (en) * | 2020-11-26 | 2021-09-28 | 北京航空航天大学 | Numerical control machine tool communication heterogeneous feeding system and debugging method thereof |
| CN113364638B (en) * | 2021-08-11 | 2021-11-02 | 浙江国利信安科技有限公司 | Method, electronic device and storage medium for EPA networking |
| CN113364638A (en) * | 2021-08-11 | 2021-09-07 | 浙江国利信安科技有限公司 | Method, electronic device and storage medium for EPA networking |
| CN114268539A (en) * | 2021-12-22 | 2022-04-01 | 中国长江三峡集团有限公司 | Pre-processing method and system for automatically issuing and monitoring Powerlink master station configuration |
| CN114268539B (en) * | 2021-12-22 | 2023-09-12 | 中国长江三峡集团有限公司 | Preprocessing method and system for automatically issuing and monitoring Powerlink master station configuration |
| CN115801859A (en) * | 2022-11-10 | 2023-03-14 | 广东美的智能科技有限公司 | Connection method between configuration equipment, industrial control device and system |
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