CN108322482A - A kind of method and device of protocol conversion - Google Patents
A kind of method and device of protocol conversion Download PDFInfo
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- CN108322482A CN108322482A CN201810225247.1A CN201810225247A CN108322482A CN 108322482 A CN108322482 A CN 108322482A CN 201810225247 A CN201810225247 A CN 201810225247A CN 108322482 A CN108322482 A CN 108322482A
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- modbus rtu
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
- H04L69/08—Protocols for interworking; Protocol conversion
-
- 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
-
- 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
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
-
- 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
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40228—Modbus
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Computer Security & Cryptography (AREA)
- Small-Scale Networks (AREA)
- Communication Control (AREA)
Abstract
This application discloses a kind of methods of protocol conversion, including：The Modbus RTU orders received are sent to CAN bus in the form of SDO request messages, so that corresponding CAN slave stations return to SDO response messages；When receiving SDO response messages, by the fills of SDO response messages to Modbus RTU frames, Modbus RTU frames are sent to serial ports after filling.Technical solution provided herein makes the main website using Modbus rtu protocols complete the data interaction between CAN slave stations, and then realizes the equipment access Modbus RTU networks enabled using CANopen agreements, improves the efficiency of data transmission procedure.The application additionally provides a kind of device of protocol conversion simultaneously, has above-mentioned advantageous effect.
Description
Technical field
This application involves protocol conversion field, more particularly to a kind of method and device of protocol conversion.
Background technology
Modbus and CAN is as two kinds of industrial common bus protocols on instrument and meter, automobile, Transit Equipment
Obtain extensive use.CANopen is the upper-layer protocol of CAN bus, and the application protocol being operate on CAN bus is adopted
Have the characteristics that response is fast, delay is low, with high accuracy with the servo-driver of CANopen agreements.
Modbus initially by a kind of agreement of application layer of Mo Dikang (after by Shi Naide electrically purchased) company exploitation,
The Modbus protocol definitions format of the frame of application layer, data length, register address, Read-write Catrol, the letters such as frame period time
Breath.Applying for Modbus agreements occupies a big chunk ratio, water in industrial automation and the application of industrial control system
Table ammeter and PLC use Modbus rtu protocols.However the PLC controller of mainstream does not have CANopen to connect in the prior art
Mouthful, this so that using the equipment of CANopen agreements Modbus networks can not be accessed, and leads to low-response in data transmission procedure, prolongs
Shi Gao, precision are low.
Therefore, how to enable the equipment access Modbus networks using CANopen agreements be those skilled in the art needs at present
Technical problems to be solved.
Invention content
The purpose of the application is to provide a kind of method and device of protocol conversion, for enabling setting using CANopen agreements
Standby access Modbus networks, and then improve the efficiency of data transmission procedure.
In order to solve the above technical problems, the application provides a kind of method of protocol conversion, this method includes：
The Modbus RTU orders received are sent to CAN bus in the form of SDO request messages, so that corresponding
CAN slave stations return to SDO response messages；
When receiving the SDO response messages, by the fills of the SDO response messages to Modbus RTU frames,
The Modbus RTU frames are sent to serial ports after filling.
It is optionally, described that the Modbus RTU orders received are sent to CAN bus in the form of SDO request messages,
Including：
Receive Modbus RTU reading orders；
The Modbus RTU reading orders are parsed, obtain reading address information and read data amount check；
The reading address information and the reading data amount check are inserted into SDO request messages, and the SDO is asked to report
Text is sent to the CAN bus.
Optionally, when receiving the SDO response messages, by the fills of the SDO response messages to Modbus
RTU frames, including：
When receiving the SDO response messages, parses the SDO response messages and obtain returned data number and return to number
According to；
The returned data number and the returned data are filled to Modbus RTU frames according to predetermined format.
It is optionally, described that the Modbus RTU orders received are sent to CAN bus in the form of SDO request messages,
Including：
Receive Modbus RTU writing commands；
The Modbus RTU writing commands are parsed, address information is written, writes data amount check and data content；
Said write address information, write data number and the data content are inserted into SDO request messages, and by institute
It states SDO request messages and is sent to the CAN bus.
Optionally, after the SDO request messages are sent to the CAN bus, further include：
Each CAN slave stations are enabled to return to the SDO response messages that write-in finishes.
The application also provides a kind of device of protocol conversion, which includes：
First transmission unit, the Modbus RTU orders for will receive are sent to CAN in the form of SDO request messages
Bus, so that corresponding CAN slave stations return to SDO response messages；
Second transmission unit, for when receiving the SDO response messages, the content of the SDO response messages to be filled out
Modbus RTU frames are charged to, the Modbus RTU frames are sent to serial ports after filling.
Optionally, first transmission unit includes：
First receiving subelement, for receiving Modbus RTU reading orders；
First parsing subunit obtains reading address information and reading for parsing the Modbus RTU reading orders
Data amount check；
First transmission sub-unit, for reporting the reading address information and reading data amount check filling SDO requests
Text, and the SDO request messages are sent to the CAN bus.
Optionally, second transmission unit includes：
Second parsing subunit is obtained for when receiving the SDO response messages, parsing the SDO response messages
Returned data number and returned data；
Fill subelement, for according to predetermined format by the returned data number and the returned data fill to
Modbus RTU frames.
Optionally, first transmission unit includes：
Second receiving subelement, for receiving Modbus RTU writing commands；
Third parsing subunit is written address information, writes data for parsing the Modbus RTU writing commands
Number and data content；
Second transmission sub-unit, for filling out said write address information, write data number and the data content
Enter SDO request messages, and the SDO request messages are sent to the CAN bus.
Optionally, further include：
Returning unit, for enabling each CAN slave stations return to the SDO response messages that write-in finishes.
A kind of method of protocol conversion provided herein, including the Modbus RTU orders received are asked with SDO
The form of message is asked to be sent to CAN bus, so that corresponding CAN slave stations return to SDO response messages；When receiving SDO response reports
Modbus RTU frames are sent to string by Wen Shi by the fills of SDO response messages to Modbus RTU frames after filling
Mouthful.
Technical solution provided herein, by the Modbus RTU orders that will receive with the shape of SDO request messages
Formula is sent to CAN bus so that corresponding CAN slave stations can return to SDO response messages；When receiving SDO response messages, lead to
It crosses the fills of SDO response messages to Modbus RTU frames, and Modbus RTU frames is sent to string after filling
Mouthful so that the data interaction between CAN slave stations is completed using the main website of Modbus rtu protocols, and then realizes order and uses
The equipment of CANopen agreements accesses Modbus networks, improves the efficiency of data transmission procedure.The application additionally provides one simultaneously
The device of kind protocol conversion, has above-mentioned advantageous effect, details are not described herein.
Description of the drawings
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of application for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
A kind of flow chart of the method for protocol conversion that Fig. 1 is provided by the embodiment of the present application；
Flow charts of the Fig. 2 by a kind of practical manifestation mode of S101 in a kind of method of Fig. 1 protocol conversions provided；
Flow charts of the Fig. 3 by another practical manifestation mode of S101 in a kind of method of Fig. 1 protocol conversions provided；
A kind of structure chart of the device for protocol conversion that Fig. 4 is provided by the embodiment of the present application；
The structure chart of the device for another protocol conversion that Fig. 5 is provided by the embodiment of the present application.
Specific implementation mode
The core of the application is to provide a kind of method and device of protocol conversion, for enabling setting using CANopen agreements
Standby access Modbus networks, and then improve the efficiency of data transmission procedure.
To keep the purpose, technical scheme and advantage of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
In attached drawing, technical solutions in the embodiments of the present application is clearly and completely described, it is clear that described embodiment is
Some embodiments of the present application, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art
The every other embodiment obtained without making creative work, shall fall in the protection scope of this application.
Referring to FIG. 1, a kind of flow chart of the method for protocol conversion that Fig. 1 is provided by the embodiment of the present application.
It specifically comprises the following steps：
S101：The Modbus RTU orders received are sent to CAN bus in the form of SDO request messages, so that right
The CAN slave stations answered return to SDO response messages；
S102：When receiving SDO response messages, by the fills of SDO response messages to Modbus RTU frames, filling
After Modbus RTU frames are sent to serial ports.
PLC controller based on mainstream in the prior art does not have CANopen interfaces so that uses setting for CANopen agreements
It is standby to access Modbus networks, cause low-response in data transmission procedure, delay height, precision low, this application provides one kind
The method of protocol conversion for enabling the equipment access Modbus networks using CANopen agreements, and then improves data transmission procedure
Efficiency；
Serial ports mentioned herein is and the serial ports that uses the controller of the equipment of Modbus rtu protocols to be connected；
Modbus RTU orders mentioned herein are specifically as follows to be sent out using the controller of the equipment of Modbus rtu protocols
It send, classification may include Modbus RTU reading orders and Modbus RTU writing commands, be respectively used to read CANopen
The data of network and to corresponding CAN slave stations be written data；
Optionally, referring to FIG. 2, Fig. 2 by S101 in a kind of method of Fig. 1 protocol conversions provided a kind of practical table
The flow chart of existing mode, when the classification of Modbus RTU orders for Modbus RTU reading orders when, can specifically include with
Lower step：
S201：Receive Modbus RTU reading orders；
S202：Modbus RTU reading orders are parsed, obtain reading address information and read data amount check；
Optionally, reading address information mentioned herein can specifically include target station number and initial address；
The format of the Modbus RTU reading orders specifically can be as shown in the table：
| Target station number | Function code | Initial address | Read data amount check | CRC check |
| SlaveID | 0x03 or 0x04 | Addr | Num | Check |
If the index that controller will read the CANOpen equipment that node number is NodeID is Index, subindex SubIndex
Service Data Object (SDO), then the Modbus RTU reading orders be specifically as follows：
Function code mentioned herein corresponds to the different function of Modbus RTU orders.
S203：Address information will be read and read data amount check and insert SDO request messages, and SDO request messages will be sent
To CAN bus.
The specific format of the SDO request messages can be as shown in the table：
After receiving above-mentioned Modbus reading orders, corresponding NodeID, Index, SubIndex will directly be taken out,
Filling SDO request messages are sent to CAN bus；
Optionally, the setting mentioned herein for reading data amount check can be somebody's turn to do there are many mode for example, can be set as working as
When SDO corresponds to 1 or 2 data, Num=1 is enabled；When the SDO corresponds to 3 or 4 data, Num=2 is enabled；It can not also examine
Consider the corresponding numbers of SDO, directly enables Num=2；
Optionally, on the basis of Fig. 2, step S102 is previously mentioned, when receiving SDO response messages, by SDO responses
The fills of message are specifically as follows to Modbus RTU frames：
When receiving SDO response messages, parsing SDO response messages obtain returned data number and returned data；
Returned data number and returned data are filled to Modbus RTU frames according to predetermined format；
The command format of SDO response messages mentioned herein specifically can be as shown in the table：
Wherein, target station number and function code are corresponding with target station number and function code in step S202；
When receiving SDO response messages, can according to following format by returned data number and returned data fill to
Modbus RTU frames；
Based on the above-mentioned technical proposal, the method for a kind of protocol conversion provided herein, passes through what will be received
Modbus RTU orders are sent to CAN bus in the form of SDO request messages so that corresponding CAN slave stations can return to SDO and answer
Answer message；When receiving SDO response messages, by the way that the fills of SDO response messages to Modbus RTU frames, and are being filled out
Modbus RTU frames are sent to serial ports after filling so that complete and CAN slave stations using the main website of Modbus rtu protocols
Between data interaction, and then realize enable using CANopen agreements equipment access Modbus networks, improve data transmission
The efficiency of process.
Based on above-described embodiment, referring to FIG. 3, Fig. 3 by a kind of method of Fig. 1 protocol conversions provided S101 it is another
A kind of flow chart of practical manifestation mode, it is specific when the classification of Modbus RTU orders is Modbus RTU writing commands
It may comprise steps of：
S301：Receive Modbus RTU writing commands；
S302：Modbus RTU writing commands are parsed, address information is written, writes data amount check and data content；
Optionally, writing address information mentioned herein may include target station number and initial address；Further,
The command format of Modbus RTU writing commands specifically can be as shown in the table：
If the index that controller will will write the CANOpen equipment that node number is NodeID is Index, subindex is
The Service Data Object (SDO) of SubIndex, then the Modbus RTU writing commands be specifically as follows：
S303：By writing address information, data amount check and data content filling SDO request messages are write, and SDO is asked to report
Text is sent to CAN bus.
The specific format of the SDO request messages is：
It, directly will be by corresponding NodeID, Index, SubIndex, Data after receiving above-mentioned Modbus writing commands
It takes out, filling SDO request messages are sent to CAN bus；
For example, when it is 2 to write data amount check in Modbus RTU writing commands, the particular content of the SDO request messages is：
Optionally, after SDO request messages are sent to CAN bus, can also include：
When a write is completed, each CAN slave stations is enabled to return to the SDO response messages that write-in finishes.
Referring to FIG. 4, a kind of structure chart of the device for protocol conversion that Fig. 4 is provided by the embodiment of the present application.
The device may include：
First transmission unit 100, the Modbus RTU orders for will receive are sent in the form of SDO request messages
CAN bus, so that corresponding CAN slave stations return to SDO response messages；
Second transmission unit 200, for when receiving SDO response messages, extremely by the fills of SDO response messages
Modbus RTU frames are sent to serial ports by Modbus RTU frames after filling.
Referring to FIG. 5, the structure chart of the device for another protocol conversion that Fig. 5 is provided by the embodiment of the present application.
First transmission unit 100 may include：
First receiving subelement, for receiving Modbus RTU reading orders；
First parsing subunit, for parsing Modbus RTU reading orders, obtaining reading address information and reading data
Number；
First transmission sub-unit, for that will read address information and read data amount check filling SDO request messages, and will
SDO request messages are sent to CAN bus.
Second transmission unit 200 may include：
Second parsing subunit, for when receiving SDO response messages, parsing SDO response messages to obtain returned data
Number and returned data；
Subelement is filled, for filling returned data number and returned data to Modbus RTU according to predetermined format
Frame.
First transmission unit 100 may include：
Second receiving subelement, for receiving Modbus RTU writing commands；
Third parsing subunit is written address information, writes data amount check for parsing Modbus RTU writing commands
And data content；
Second transmission sub-unit, for by writing address information, write data amount check and data content filling SDO request report
Text, and SDO request messages are sent to CAN bus.
The device can also include：
Returning unit 400, for enabling each CAN slave stations return to the SDO response messages that write-in finishes.
Since the embodiment of device part is corresponded with the embodiment of method part, the embodiment of device part is asked
Referring to the description of the embodiment of method part, wouldn't repeat here.
Each embodiment is described by the way of progressive in specification, the highlights of each of the examples are with other realities
Apply the difference of example, just to refer each other for identical similar portion between each embodiment.For device disclosed in embodiment
Speech, since it is corresponded to the methods disclosed in the examples, so description is fairly simple, related place is referring to method part illustration
.
Professional further appreciates that, unit described in conjunction with the examples disclosed in the embodiments of the present disclosure
And algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software generally describes each exemplary composition and step according to function in the above description.These
Function is implemented in hardware or software actually, depends on the specific application and design constraint of technical solution.Profession
Technical staff can use different methods to achieve the described function each specific application, but this realization is not answered
Think to exceed scope of the present application.
A kind of method and device of protocol conversion provided herein is described in detail above.It is used herein
The principle and implementation of this application are described for specific case, and the explanation of above example is only intended to help to understand
The present processes and its core concept.It should be pointed out that for those skilled in the art, not departing from this
Apply principle under the premise of, can also to the application, some improvement and modification can also be carried out, these improvement and modification also fall into the application
In scope of the claims.
It should also be noted that, in the present specification, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning
Covering non-exclusive inclusion, so that the process, method, article or equipment including a series of elements includes not only that
A little elements, but also include other elements that are not explicitly listed, or further include for this process, method, article or
The intrinsic element of equipment.In the absence of more restrictions, the element limited by sentence "including a ...", is not arranged
Except there is also other identical elements in the process, method, article or apparatus that includes the element.
Claims (10)
1. a kind of method of protocol conversion, which is characterized in that including：
The Modbus RTU orders received are sent to CAN bus in the form of SDO request messages so that corresponding CAN from
It stands and returns to SDO response messages；
When receiving the SDO response messages, by the fills of the SDO response messages to Modbus RTU frames, filling
After the Modbus RTU frames are sent to serial ports.
2. according to the method described in claim 1, it is characterized in that, described ask the Modbus RTU orders received with SDO
The form of message is asked to be sent to CAN bus, including：
Receive Modbus RTU reading orders；
The Modbus RTU reading orders are parsed, obtain reading address information and read data amount check；
The reading address information and the reading data amount check are inserted into SDO request messages, and the SDO request messages are sent out
It send to the CAN bus.
3. according to the method described in claim 2, it is characterized in that, when receiving the SDO response messages, by the SDO
The fills of response message to Modbus RTU frames, including：
When receiving the SDO response messages, parses the SDO response messages and obtain returned data number and returned data；
The returned data number and the returned data are filled to Modbus RTU frames according to predetermined format.
4. according to the method described in claim 1, it is characterized in that, described ask the Modbus RTU orders received with SDO
The form of message is asked to be sent to CAN bus, including：
Receive Modbus RTU writing commands；
The Modbus RTU writing commands are parsed, address information is written, writes data amount check and data content；
Said write address information, write data number and the data content are inserted into SDO request messages, and will be described
SDO request messages are sent to the CAN bus.
5. according to the method described in claim 4, it is characterized in that, the SDO request messages are sent to the CAN bus
Later, further include：
Each CAN slave stations are enabled to return to the SDO response messages that write-in finishes.
6. a kind of device of protocol conversion, which is characterized in that including：
First transmission unit, it is total that the Modbus RTU orders for will receive are sent to CAN in the form of SDO request messages
Line, so that corresponding CAN slave stations return to SDO response messages；
Second transmission unit, for when receiving the SDO response messages, extremely by the fills of the SDO response messages
The Modbus RTU frames are sent to serial ports by Modbus RTU frames after filling.
7. device according to claim 6, which is characterized in that first transmission unit includes：
First receiving subelement, for receiving Modbus RTU reading orders；
First parsing subunit, for parsing the Modbus RTU reading orders, obtaining reading address information and reading data
Number；
First transmission sub-unit, for the reading address information and the reading data amount check to be inserted SDO request messages, and
The SDO request messages are sent to the CAN bus.
8. device according to claim 7, which is characterized in that second transmission unit includes：
Second parsing subunit is returned for when receiving the SDO response messages, parsing the SDO response messages
Data amount check and returned data；
Subelement is filled, for filling the returned data number and the returned data to Modbus according to predetermined format
RTU frames.
9. device according to claim 6, which is characterized in that first transmission unit includes：
Second receiving subelement, for receiving Modbus RTU writing commands；
Third parsing subunit is written address information, writes data amount check for parsing the Modbus RTU writing commands
And data content；
Second transmission sub-unit, for said write address information, write data number and the data content to be inserted SDO
Request message, and the SDO request messages are sent to the CAN bus.
10. device according to claim 9, which is characterized in that further include：
Returning unit, for enabling each CAN slave stations return to the SDO response messages that write-in finishes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810225247.1A CN108322482A (en) | 2018-03-19 | 2018-03-19 | A kind of method and device of protocol conversion |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810225247.1A CN108322482A (en) | 2018-03-19 | 2018-03-19 | A kind of method and device of protocol conversion |
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| CN201810225247.1A Pending CN108322482A (en) | 2018-03-19 | 2018-03-19 | A kind of method and device of protocol conversion |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112363479A (en) * | 2020-12-09 | 2021-02-12 | 南昌航空大学 | Digital communication transmission method and system between field devices |
| CN114006742A (en) * | 2021-10-27 | 2022-02-01 | 许继集团有限公司 | CANOpen protocol-based communication conversion method and system |
| CN114338274A (en) * | 2021-12-30 | 2022-04-12 | 上海交通大学 | Heterogeneous industrial field bus fusion method and system |
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