CN102833140A - Computerized numerical control alliance bus system, coupler and communication method - Google Patents
Computerized numerical control alliance bus system, coupler and communication method Download PDFInfo
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Abstract
The embodiment of the invention discloses a computerized numerical control alliance bus system, a coupler and a communication method. The communication method comprises the following steps of: firstly obtaining the current data frame, wherein the current data frame carries indication information used for indicating type of the current data frame; and then selecting a software processing module or a hardware processing module for carrying out processing on the current data frame according to the type indicated by the indication information, thus the coupler adopts a software hardware coprocessing method, differential processing means are adopted according to the data frames of different types in the NCUC-Bus (nonlinear computing unit cascade) standard, hardware inner core processing forwarding is adopted for the data frame with high real-time requirement, software inner core processing and forwarding is adopted for the data frame with low real-time requirement, and real-time performance of a field bus is improved to the utmost extent, therefore, correlation between quantity of slave stations and data frame loop transmission delay in an annular link is greatly weakened, and increase of the slave stations hardly can cause the increase of the data frame transmission delay.
Description
Technical field
The present invention relates to industrial control field, relate in particular to a kind of numerical control alliance bus system, coupler and communication means.
Background technology
(Numerical Control Union of China Field Bus, NCUC-Bus) standard is the abbreviation of Chinese machine tool TIA " machine tool numerical control system NCUC-Bus protocol specification " to numerical control alliance bus.
The NCUC-Bus coupler be special for the industrial automation control procedure that comprises motion control formulate based on the communication of the EPA more than 100Mbps multiport transponder.
High-end lathe industry is very high to the requirement of each communication node real-time and synchronism, and China's NCUC-Bus standard has demonstrated fully this demand.At high-end lathe production field, realize that hard real time communication and high precision clock are by force two critical technical problems synchronously always.
Owing on the node ring topology and data frame structure of NCUC-Bus network, make general coupler when communicating, can not fully realize the performance of synchronously strong and hard real-time, its reason is main as following:
According to the regulation of NCUC-Bus standard about physical layer, the equipment in the NCUC-Bus network is made up of main website and slave station.Main website is the equipment of initiating communication in the network, in this network, has and only has one.Except that main website, the equipment of other access networks all is slave station.Each equipment all has two communication interfaces (like RJ-45 network interface etc.).The physical topological structure of NCUC-Bus network support generally can be the Crossed Circle structure.In the annular NCUC-Bus network; Frame need pass through slave station 1, slave station 2 from main website successively if will send to slave station n from main website ... Slave station n-1 arrives slave station n, therefore; Slave station is many more; It is long more that Frame is issued to the time that the target slave station experienced from main website, and loop data postpones big more, has limited real-time widely.In addition, when the NCUC-Bus coupler is handled the Frame from the main website to the slave station or from the slave station to the main website, carry out the software exchange by its software processes module and handle, and just there is the relatively poor problem of real-time in the exchange of software own.
Summary of the invention
Embodiment of the invention technical problem to be solved is, a kind of numerical control alliance bus system, coupler and communication means are provided, with strengthen numerical control use in the real-time performance handled of Frame, increase work efficiency.
In order to solve the problems of the technologies described above; The embodiment of the invention has proposed a kind of communication means based on numerical control alliance bus system; Said system comprises main website, slave station; And the coupler that connects said main website and slave station formation network, said coupler is provided with software processes module and hardware handles module, and said method comprises:
Obtain current data frame, carry the indication information of the type that is used to indicate said current data frame in the said current data frame;
According to the type of said indication information indication, select said software processes module or hardware handles module to carry out the processing of said current data frame.
Correspondingly, the embodiment of the invention also provides a kind of numerical control alliance bus coupler, and it is connected with main website and slave station, comprising:
Transceiver module is used for obtaining current data frame from said main website or slave station, carries the indication information of the type that is used to indicate said current data frame in the said current data frame;
Processing module comprises software processes module and hardware handles module, is used for the type according to said indication information indication, selects said software processes module or hardware handles module to carry out the processing of said current data frame.
Correspondingly, the embodiment of the invention also provides a kind of numerical control alliance bus system, comprises main website, and slave station, and said system comprises that also said main website of above-mentioned connection and slave station form the coupler of network.
The beneficial effect of the embodiment of the invention is:
Through a kind of numerical control alliance bus system, coupler and communication means are provided, at first obtain current data frame, carry the indication information of the type that is used to indicate current data frame in the current data frame; The type of indicating according to indication information then; Select software processes module or hardware handles module to carry out the processing of current data frame, like this, the method that coupler takes software-hardware synergism to handle; Take the processing means of differentiation to data of different types frame in the NCUC-Bus standard; The Frame that requires for hard real-time adopts the hardware-core processing forward, and for the less demanding Frame of real-time is adopted the software kernel processing forward, maximization has improved the hard real-time of fieldbus; Make that the correlation between the slave station quantity and Frame loop transmission delay weakens greatly in the annular link, the increase of slave station can cause the transmission delay of Frame to increase hardly.
Description of drawings
Fig. 1 is the structure chart of the NCUC-Bus system of the embodiment of the invention.
Fig. 2 is the structure chart of the coupler 103 of the embodiment of the invention.
Fig. 3 is the flow chart based on the communication means of NCUC-Bus system of the embodiment of the invention.
Fig. 4 is the data frame structure figure of the embodiment of the invention.
Fig. 5 is that the main website and the slave station MAC Address of the embodiment of the invention distributes sketch map.
Fig. 6 is the sketch map that the coupler of the embodiment of the invention is handled the bus configuration frame.
Fig. 7 is the sketch map that the coupler of the embodiment of the invention is handled unicast frame, need not to carry out the broadcast frame of Data Update and need carry out the broadcast frame of Data Update.
Fig. 8 is the sketch map of the coupler processing configuration feedback data frame of the embodiment of the invention.
Fig. 9 is the sketch map that the coupler of the embodiment of the invention is handled the clean culture feedback frame, need not to carry out the broadcasting feedback frame of Data Update and need carry out the broadcasting feedback frame of Data Update.
Figure 10 is the structure chart of the coupler 103 of the embodiment of the invention.
Figure 11 is the structure chart of processing module 202 of the coupler 103 of the embodiment of the invention.
Embodiment
Need to prove that under the situation of not conflicting, embodiment and the characteristic among the embodiment among the application can mutually combine, and below in conjunction with accompanying drawing and specific embodiment the present invention are done further explain.
As shown in Figure 1, the NCUC-Bus system of the embodiment of the invention mainly comprises main website 101, slave station 102, and the coupler 103 that connects main website 101 and slave station 102 formation networks, and wherein, coupler 103 specifically comprises structure as shown in Figure 2:
Transceiver module 201 is used for obtaining current data frame from main website 101 or slave station 102, carries the indication information of the type that is used to indicate current data frame in the current data frame;
Processing module 202 comprises software processes module and hardware handles module, is used for the type according to the indication information indication, selects software processes module or hardware handles module to carry out the processing of current data frame.
As shown in Figure 3, the communication means based on the NCUC-Bus system of the embodiment of the invention mainly comprises:
301, obtain current data frame, carry the indication information of the type that is used to indicate current data frame in the current data frame;
302, according to the type of indication information indication, select software processes module or hardware handles module to carry out the processing of current data frame.
To the different types of data frame, in the said method in the step 302 at first by the type of hardware handles module according to indication information judgment data frame, according to the type of different Frames, carry out different disposal again, specific as follows:
As shown in Figure 4; Data frame structure is generally by frame head (Head), CM-ID command field, data field and CRC (Cyclic Redundancy Check; CRC) verification is formed, and the analysis of 103 pairs of Frame application layers of coupler realizes through above-mentioned CM-ID command field.Transparent embedding for the coupler of realizing the embodiment of the invention; Promptly main website and slave station are not being produced under the prerequisite of variation of Frame handling process and performance impact; We utilize CM-ID command field in the existing Frame as the indication information that is used to distinguish data frame type; And according to the difference of CM-ID command field, Frame can be divided into bus configuration frame, unicast frame, need not the broadcast frame (being called for short " train frame ") that carries out the broadcast frame of Data Update and need carry out Data Update, for example; When the CM-ID command field was A010 or A0120, Frame was the bus configuration frame; The CM-ID command field is 0210,0220,0230 or 0240 o'clock, and Frame is a unicast frame; When the CM-ID command field was A030, A040, A050, A060 or A0f0, Frame was the broadcast frame that need not to carry out Data Update; When the CM-ID command field was 04XX, Frame was for carrying out the broadcast frame of Data Update.The hardware handles module of coupler passes through recognition data frame CM-ID command field, thereby can differentiate the type of Frame, thereby carries out following different disposal:
(1) when the type of current data frame is the bus configuration frame of main website transmission; After the hardware handles module receives and interrupts immediately behind the indication information (being the CM-ID command field) transmitting current data frame; Give the software processes module with control, the software processes module makes up the configuration order Frame and sends the configuration order Frame successively with the position of definition from stand in network to each slave station.
System is after startup; Though physically the network electric interfaces has been accomplished connection; But all NCUC-Bus slave stations are in uncontrollable state, and promptly coupler also fails to know the position from stand in network, and main website also fails to know quantity, the kind that inserts slave station in the network and connects order etc.
Then; Main website selects an ethernet physical layer port to send the bus configuration frame arbitrarily, and the CM-ID command field of carrying in this bus configuration frame is A010 or A0120, and this bus configuration frame requires each slave station to add 1 address as equipment self one by one according to the address of main website; The address indication main website or the position from stand in network of main website and slave station; It is general that (Media Access Control, MAC) address is represented, and is as shown in Figure 5 with medium access control.
Coupler is taked the strategy of " transmitting immediately; analyze and block " to the bus configuration frame that main website sends, and at first carries out the initialization of ethernet physical layer (PHY), afterwards; When the hardware handles module receives bus configuration frame (RXD); Need not to wait for to receive complete bus configuration frame, as long as it is after receiving the CM-ID command field, as shown in Figure 6; The repeating process of (Ctrl) interrupt bus that transmits control signal immediately configuration frame; Simultaneously Frame is transmitted the control of handling and give the software processes module, the slave station not bus configuration frame of complete reception will be dropped, and the software processes module will make up the configuration order Frame and order is sent this configuration order Frame (TXD) to each network interface successively.
(2) when the type of current data frame be main website send carry the unicast frame of target tributary address information the time, the hardware handles module directly sends to the target slave station with current data frame, to trigger the Data Update that the target slave station carries out unicast frame.
(3) when the type of current data frame be main website send need not to carry out the broadcast frame of Data Update the time, the hardware handles module directly sends to each slave station with current data frame simultaneously.
(4) when the type of current data frame be need that main website sends when carrying out the broadcast frame of Data Update, the hardware handles module directly sends to each slave station with current data frame simultaneously.
Processing above-mentioned (two), (three) and (four) can be as shown in Figure 7.
(5) when the type of current data frame be to carry in the configuration feedback data frame that sends of slave station and the current data frame when being used for indicating slave station in the address information (MAC Address) of the position of network and network interface information; The hardware handles module is given the software processes module with control; The software processes module is with the local address forwarding table of address information and network interface information updating, and current data frame is sent to main website or next slave station.
Processing in conjunction with above-mentioned (one); Hardware handles module in the coupler indicates slave station in the address information (MAC Address) of the position of network and network interface information etc. according to being used for of from the configuration feedback data frame that slave station returns, carrying; Upgrade local address forwarding table; Thereby make coupler know the position from stand in network, main website also can know quantity, the kind that inserts slave station in the network and connect order etc.For example, the software processes module earlier sends the first configuration order Frame to network interface 0, and the first configuration feedback data frame that returns according to network interface 0 confirms to connect on the network interface 0 quantity and the mode of slave station; And then upgrade local address forwarding table, and then, the second configuration order Frame that the software processes module sends after upgrading to network interface 1; The second configuration feedback data frame that returns according to network interface 1 confirms to connect on the network interface 1 quantity and the mode of slave station; Upgrade local address forwarding table again, by that analogy, the slave station connection situation on all network interfaces of coupler obtains configuration; The network univers parameter finally is set; And the configuration feedback data frame that will upgrade for the last time is sent to main website through the network interface that main website connects, and as shown in Figure 8, Ctrl_s representes to select to send configuration feedback data frame to slave station or main website among the figure.
(6) when carrying the Updating Information of target slave station in the clean culture feedback frame of the address information that carries the target slave station that the type of current data frame is sent for the target slave station and the current data frame; The hardware handles module directly sends to main website with current data frame and has carried out Data Update with notice main website target slave station, and main website can obtain this data updated and carry out subsequent treatment.
(7) when the type of current data frame be slave station send need not to carry out the broadcasting feedback frame of Data Update the time, the hardware handles module judges whether all to have received current data frame from each slave station, if then directly current data frame is sent to main website.
(8) when the type of current data frame be that need that slave station sends are when carrying out the broadcasting feedback frame of Data Update; The hardware handles module judges whether all to have received current data frame from each slave station; If; Then make up the new data frame that Updates Information that carries each slave station, and new data frame is sent to main website according to the configuration information of being preserved.
Processing above-mentioned (six), (seven) and (eight) can be as shown in Figure 9.
The following points that need explanation:
1, in the type of hardware handles module according to indication information judgment data frame; Indication information can be other fields except that the CM-ID command field; Like custom field etc.; Processing of main website and slave station will have certain variation thereupon this moment that, but still can reach the effect of the alleged hard real-time of the present invention.
2, as other execution modes; Except that the processing forward of bus configuration frame and configuration feedback data frame is realized by the software processes module; Other unicast frames, clean culture feedback frame, need not to carry out Data Update broadcast frame, need not to carry out Data Update the broadcasting feedback frame, need carry out the broadcast frame of Data Update and need carry out that one or more hardware handles modules that adopt carry out processing forward in the broadcasting feedback frame of Data Update, still can aspect real-time, show the effect that is superior to prior art.
Correspondingly, the NCUC-Bus coupler 103 of the embodiment of the invention can specifically be made up of structure shown in figure 10:
Particularly, processing module 1002 comprises the control bus 10023 of software processes module 10021, hardware handles module 10022 and connection software processes module 10021 and hardware handles module 10022,
When the Frame of handling from the main website to the slave station:
Hardware handles module 10022; Be used for judging said type according to indication information; When type be main website send carry the unicast frame of target tributary address information the time, directly current data frame is sent to the target slave station, to trigger the Data Update that the target slave station carries out unicast frame; When type be main website send need not to carry out the broadcast frame of Data Update the time, directly current data frame is sent to each slave station simultaneously; When type is need that main website sends when carrying out the broadcast frame of Data Update, directly current data frame is sent to each slave station simultaneously; When type be main website send the bus configuration frame time, receive interrupt immediately transmitting current data frame behind the indication information after, give software processes module 10021 with control;
When the Frame of handling from the slave station to the main website:
Hardware handles module 10022; Be used for judging type according to indication information; When carrying the Updating Information of target slave station in the clean culture feedback frame of the address information that carries the target slave station that type is sent for the target slave station and the current data frame, directly current data frame is sent to main website and carried out Data Update with notice main website target slave station; When type be slave station send need not to carry out the broadcasting feedback frame of Data Update the time, judge whether all to have received current data frame, if then directly current data frame is sent to main website from each slave station; When type is that need that slave station sends are when carrying out the broadcasting feedback frame of Data Update; Judge whether all to have received current data frame from each slave station; If then make up the new data frame that Updates Information that carries each slave station, and new data frame sent to main website according to the configuration information of being preserved; When type is to carry in the configuration feedback data frame that sends of slave station and the current data frame when being used for indicating slave station in the address information of the position of network and network interface information, give the software processes module with control;
The processing module 202 of NCUC-Bus coupler can by programmable gate array (Field-Programmable Gate Array FPGA) realizes, and is specifically shown in figure 11, wherein:
The hardware CPU (Central Processing Unit, CPU), MAC0-15, MAC up link (MAC UPLINK), MAC down link (MAC DOWNLINK), Multiplexing module (MUX), demultiplexing module (DEMUX), hardware interrupts module (IRQ) etc. form hardware handles module 10022;
Software CPU, random asccess memory (Random Access Memory; RAM), read-only memory (Read-Only Memory; ROM), clock synchronization module (SYNC I/F), flash controller (Flash Controller), JTAG (Joint Test Action Group; JTAG), (Phase Locked Loop PLL) waits composition software processes module 10021 to phase-locked loop;
AVALON-MM BUS is as control bus 10023;
Particularly:
Hardware CPU is HW CPU, is the core logic unit of hardware handles;
MAC0-15; Slave station (in this example be 16, and corresponding 16 ethernet ports) the MAC module, this module realizes the MAC layer control of Ethernet; Dock with the PHY as transceiver module 1001, transceive data can be visited through AVALON-MM BUS by hardware CPU or software CPU;
MAC UPLINK and MAC DOWNLINK, the MAC layer module of the up/downlink port of main website butt joint, this module realize the MAC layer control of Ethernet, dock with PHY, transceive data can be visited through AVALON-MM BUS by hardware CPU or software CPU;
MUX, with the MAC layer data multiplexing transmission of Uplink/Downlink to hardware CPU;
DEMUX, the Frame that hardware CPU is transferred out is assigned to Uplink/Downlink;
IRQ, hardware CPU analyzes the CM-ID command field of Frame, if when finding bus configuration frame or configuration feedback data frame, produces to software CPU through AVALON-MM BUS through this module and to interrupt;
Software CPU is NIOS II CPU, is the core logic unit of software processes;
RAM, the random access datarams of software provides AVALON-MM BUS bus access;
ROM, the software program memory space provides AVALON-MM BUS total accessing wirelessly;
SYNC I/F can realize that the clock synchronization of coupler cascade is distributed;
Flash Controller, the external program storage control module of FPGA;
JTAG, FPGA DLL module;
PLL provides system's internal clock.
As a kind of execution mode, above-mentioned software processes module and hardware handles module can also adopt the form of FPGA and single-chip microcomputer combination to realize, but the model multiselect.
Further, can two or more couplers be carried out cascade, utilize above-mentioned SYNC I/F to keep clock synchronization between the coupler, like this, in cascade system, adopt the unified clock signal.By some couplers the high accurate clock signal of cascade system is provided, and as unique clock of cascade system, to reduce the asynchronous cumulative time error that causes of clock frequency.
Numerical control alliance bus system, coupler and the communication means of embodiment of the present invention embodiment; After system accomplishes the model machine design; The test result of logic analyzer shows: coupler has been realized transmitting immediately to the main website packet basically, and its Forwarding Latency is in several clock cycle; Simultaneously, coupler has been realized " edge joint is received the limit and analyzed " to the packet that slave station returns, and the packet after will recombinating is beamed back main website.With wherein once test is example, for ease of test, main website only has an ethernet port (port numbers 16) to communicate by letter with coupler, the port numbers of two ports that slave station takies is respectively 14 and 15.It is thus clear that when coupler receives 64 byte data frames that main website sends (not being bus configuration frame or configuration feedback data frame), the forward delay of hardware CPU is a clock cycle (No. 14 ports) only; When coupler was received the Frame (No. 15 ports) that slave station returns, just having received finishes just sent the data updated frame immediately and gives main website.Because the coupler hardware circuit has the characteristic of receiving and dispatching simultaneously from station port, so the coupler transmitting-receiving postpones and can't produce tangible increase along with the increase of slave station quantity.Experiment shows, all is connected at all of the port under the situation of slave station, and the data delay that coupler causes can guarantee that so total loop communication cycle is less than 40us in 6us.
Although illustrated and described embodiments of the invention; For those of ordinary skill in the art; Be appreciated that under the situation that does not break away from principle of the present invention and spirit and can carry out multiple variation, modification, replacement and modification to these embodiment, scope of the present invention is limited accompanying claims and equivalency range thereof.
Claims (10)
1. communication means based on numerical control alliance bus system; Said system comprises main website, slave station, and the coupler that connects said main website and slave station formation network, it is characterized in that; Said coupler is provided with software processes module and hardware handles module, and said method comprises:
Obtain current data frame, carry the indication information of the type that is used to indicate said current data frame in the said current data frame;
According to the type of said indication information indication, select said software processes module or hardware handles module to carry out the processing of said current data frame.
2. the method for claim 1 is characterized in that, according to the type of said indication information indication, the processing of selecting said software processes module or hardware handles module to carry out said current data frame is specially:
Said hardware handles module is judged said type according to said indication information,
When said type is the bus configuration frame of said main website transmission; After said hardware handles module receives and interrupts immediately behind the said indication information transmitting said current data frame; Give said software processes module with control, said software processes module makes up the configuration order Frame and sends said configuration order Frame successively to define said position from stand in said network to each said slave station;
When said type be said main website send carry the unicast frame of target tributary address information the time, said hardware handles module directly sends to the target slave station with said current data frame, to trigger the Data Update that said target slave station carries out unicast frame;
When said type be said main website send need not to carry out the broadcast frame of Data Update the time, said hardware handles module directly sends to each said slave station with said current data frame simultaneously;
When said type is need that said main website sends when carrying out the broadcast frame of Data Update, said hardware handles module directly sends to each said slave station with said current data frame simultaneously.
3. the method for claim 1 is characterized in that, according to the type of said indication information indication, the processing of selecting said software processes module or hardware handles module to carry out said current data frame is specially:
Said hardware handles module is judged said type according to said indication information,
When said type is to carry in the configuration feedback data frame that sends of said slave station and the said current data frame when being used for indicating said address information and network interface information from the position that stands in said network; Said hardware handles module is given said software processes module with control; Said software processes module is with the local address forwarding table of said address information and network interface information updating, and said current data frame is sent to said main website or next slave station;
When carrying the Updating Information of said target slave station in the clean culture feedback frame of the address information that carries said target slave station that said type is sent for the target slave station and the said current data frame, said hardware handles module directly sends to main website with said current data frame and has carried out Data Update to notify the said target slave station of said main website;
When said type be said slave station send need not to carry out the broadcasting feedback frame of Data Update the time; Said hardware handles module judges whether all to have received said current data frame from each said slave station; If then directly said current data frame is sent to said main website;
When said type is that need that said slave station sends are when carrying out the broadcasting feedback frame of Data Update; Said hardware handles module judges whether all to have received said current data frame from each said slave station; If; Then make up the new data frame that Updates Information that carries each said slave station, and said new data frame is sent to said main website according to the configuration information of being preserved.
4. like each described method in the claim 1 to 3, it is characterized in that said indication information is the CM-ID command field.
5. numerical control alliance bus coupler, it is connected with main website and slave station, it is characterized in that, comprising:
Transceiver module is used for obtaining current data frame from said main website or slave station, carries the indication information of the type that is used to indicate said current data frame in the said current data frame;
Processing module comprises software processes module and hardware handles module, is used for the type according to said indication information indication, selects said software processes module or hardware handles module to carry out the processing of said current data frame.
6. coupler as claimed in claim 5 is characterized in that, said processing module comprises said software processes module, hardware handles module and connect the control bus of said software processes module and hardware handles module,
Said hardware handles module; Be used for judging said type according to said indication information; When said type be said main website send carry the unicast frame of target tributary address information the time; Directly said current data frame is sent to the target slave station, to trigger the Data Update that said target slave station carries out unicast frame; When said type be said main website send need not to carry out the broadcast frame of Data Update the time, directly said current data frame is sent to each said slave station simultaneously; When said type is need that said main website sends when carrying out the broadcast frame of Data Update, directly said current data frame is sent to each said slave station simultaneously; When said type be said main website send the bus configuration frame time, receive interrupt immediately transmitting said current data frame behind the said indication information after, give said software processes module with control;
Said software processes module is used for after obtaining said control, makes up the configuration order Frame and sends said configuration order Frame successively to define said position from stand in said network to each said slave station.
7. coupler as claimed in claim 5 is characterized in that, said processing module comprises said software processes module, hardware handles module and connect the control bus of said software processes module and hardware handles module,
Said hardware handles module; Be used for judging said type according to said indication information; When carrying the Updating Information of said target slave station in the clean culture feedback frame of the address information that carries said target slave station that said type is sent for the target slave station and the said current data frame, directly said current data frame is sent to main website and carried out Data Update to notify the said target slave station of said main website; When said type be said slave station send need not to carry out the broadcasting feedback frame of Data Update the time, judge whether all to have received said current data frame, if then directly said current data frame is sent to said main website from each said slave station; When said type is that need that said slave station sends are when carrying out the broadcasting feedback frame of Data Update; Judge whether all to have received said current data frame from each said slave station; If; Then make up the new data frame that Updates Information that carries each said slave station, and said new data frame is sent to said main website according to the configuration information of being preserved; When said type is to carry in the configuration feedback data frame that sends of said slave station and the said current data frame when being used for indicating said address information and network interface information from the position that stands in said network, give said software processes module with control;
Said software processes module is used for after obtaining said control, with said address information and the local address forwarding table of network interface information updating, and said current data frame is sent to said main website or next slave station.
8. coupler as claimed in claim 5 is characterized in that, said indication information is the CM-ID command field.
9. a numerical control alliance bus system comprises main website, and slave station, it is characterized in that, said system also comprises the coupler that forms network like each said main website of said connection and slave station among the claim 5-8.
10. system as claimed in claim 9 is characterized in that, when comprising the said coupler of a plurality of cascades, keeps clock synchronization between the coupler.
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| WO2017185980A1 (en) * | 2016-04-26 | 2017-11-02 | 中兴通讯股份有限公司 | Data transmission method and apparatus |
| CN107317653A (en) * | 2016-04-26 | 2017-11-03 | 中兴通讯股份有限公司 | Data transmission method and device |
| CN107317653B (en) * | 2016-04-26 | 2022-06-21 | 中兴通讯股份有限公司 | Data transmission method and device |
| CN106533795A (en) * | 2016-12-14 | 2017-03-22 | 中国东方电气集团有限公司 | Automatic configuration real-time optical fiber communication system |
| CN109902053A (en) * | 2017-12-07 | 2019-06-18 | 厦门雅迅网络股份有限公司 | A kind of SPI communication method, terminal device and storage medium based on dual controller |
| CN109902053B (en) * | 2017-12-07 | 2022-07-05 | 厦门雅迅网络股份有限公司 | SPI communication method based on double controllers, terminal equipment and storage medium |
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