CN103281229A - Motion control bus communication method based on Ethernet physical layer - Google Patents
Motion control bus communication method based on Ethernet physical layer Download PDFInfo
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- CN103281229A CN103281229A CN2013101602282A CN201310160228A CN103281229A CN 103281229 A CN103281229 A CN 103281229A CN 2013101602282 A CN2013101602282 A CN 2013101602282A CN 201310160228 A CN201310160228 A CN 201310160228A CN 103281229 A CN103281229 A CN 103281229A
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Abstract
The invention relates to a motion control bus communication method based on an Ethernet physical layer. The Ethernet is used as the motion control bus standard, and the Ethernet networking mode is realized on the basis of an annular structure. The output of a master station is connected with the input of a first slave station; the output of the first slave station is connected with the input of a second slave station until the output of the last slave station is connected to the input of the master station; the slave station receives a data frame; according to the its own address, data required to receive is extracted from the data frame; meanwhile, data required to send replaces the data required to receive and is placed onto the corresponding position in the data frame and is sent out; extraction and replacement are synchronously carried out; and each slave station carries out the same processing in sequence. According to the motion control bus communication method based on the Ethernet physical layer, which is disclosed by the invention, a communication means between a controller and a driver can be provided for the high-precision and high-speed motion control system, and the motion control of a multi-axis system is realized.
Description
Technical field
The invention belongs to the industrial automation field, be specifically related to a kind of motion control bus communication based on ethernet physical layer.
Background technology
Along with manufacturing industry improving constantly the process technology requirement, the motion control performance of core such as Digit Control Machine Tool, industrial robot fabrication tool improves constantly, and traditional can not satisfy the demand of New Times based on the motion controller interface of analog signal and pulse signal.And based on the kinetic control system of motion control bus with compare based on the kinetic control system of analog signal and pulse signal, have the following advantages:
(1) hardware configuration is revised conveniently, when the control number of axle and I/O count when changing, to the not influence of controller hardware structure, is convenient to expansion and the reduction of control system;
(2) the control function is decentralized, has realized distributed Electric Machine Control, has improved performance, opening and the robustness of system;
(3) replace analog signal with digital signal, transmission speed and precision improve greatly, have guaranteed reliability and the control precision of system.
The motion control bus is based upon on a certain physical layer communication agreement basis, and in numerous physical layer communication standards, ethernet physical layer is with low cost with it, traffic rate is high and obtained the favor of numerous motion control bus standards.In recent years, international famous big company and industrial organization have been released the motion control bus standard based on ethernet physical layer separately one after another, and these bus protocols are comparatively complicated, use inconvenience all, and need the special-purpose chip of purchase to realize.
Therefore, if can be based on the ethernet physical layer technology, invent a kind of novel motion control bus, not only can provide the means of communication between a kind of controller and the driver for high accuracy, high-speed kinetic control system, and compare with conventional art, can have also that transmission precision height, speed are fast, an anti-interference, low cost and other advantages.
Summary of the invention
The objective of the invention is, at analog signal in the conventional motion control system and the pulse signal interface deficiency at aspects such as transmission precision, transmission speed, costs, on the ethernet physical layer basis, designed a kind of motion control bus communication based on ethernet physical layer, this communication mechanism and agreement are simply efficient, realize with low cost, function admirable, hardware automaticity height, the software interface friendliness, extended capability is strong.
The present invention includes following steps:
Step (1) data communication process is initiated by main website, and Frame enters first slave station after sending from main website.
Step (2) slave station receives Frame, extracts the data that own needs receive according to the address of self from Frame, simultaneously the data that oneself need to send is replaced the into position of Frame correspondence, sends then.
Step (3) perhaps has bus line command if slave station is found the CRC check data of the Frame of reception makes mistakes, and needs the follow-up slave station of assurance can not receive correct CRC check data, destroys the CRC check data that send Frame so.
Each slave station of step (4) carries out identical processing successively; When main website received Frame, the data that need issue slave station were all received by slave station, and the Frame that receives is the data that slave station need send to main website.
Step (5) repeats step (2), step (3) and step (4), finishes the motion control bus communication based on ethernet physical layer, realizes multiaxial motion control.
The present invention compares with the existing similar motion control bus based on Ethernet, and characteristics comprise:
(1) real-time is good: circulus, single slave station postpones average 610ns, error ± 10ns.
(2) synchronism is good: maximum synchronous error ± 10ns, be responsible for by the interruption processing module of slave station, and alleviate the processor burden.
(3) efficient height: valid data account for 84% during 6 slave stations; Valid data account for 93% during 16 slave stations.
(4) underlying protocol is simple: host-guest architecture, only stipulated bus reset, foundation, slave station information, 4 kinds of bags of data communication type.
(5) the expansion row is strong: the frame length of agreement, bus cycles data field are reserved big quantity space, have the data field of frame number.
(6) automatic retransmitting function: improved reliability, alleviated the processor burden.
Description of drawings
Fig. 1 is network topology structure figure of the present invention.
Embodiment
The invention will be further described below in conjunction with accompanying drawing.The present invention is divided into two kinds of main website, slave stations from hardware, use the ring-type connected mode between main website and slave station, slave station and the slave station, and main website and slave station all have the input and output interface.The output of main website connects the input of first slave station, and the output of first slave station connects the input of second slave station, and the output of a slave station to the last is connected to the input of main website.Network topology structure as shown in Figure 1.
Specific implementation method of the present invention is:
(1) data communication process is initiated by main website, and Frame enters first slave station after sending from main website.
(2) slave station receives Frame, Frame is adopted straight-through forwarding mechanism, be that slave station extracts the data that own needs receive according to the address of self from Frame, simultaneously the data that oneself need to send replaced the into position of Frame correspondence, send then.Extract and replace and carry out synchronously, therefore, the clock cycle of the Frame late physical chip that the Frame ratio that sends from this slave station receives.
(3) if slave station is found the CRC check data of the Frame of reception makes mistakes, bus line command is arranged perhaps, need the follow-up slave station of assurance can not receive correct CRC, destroy the CRC check data that send Frame so.
(4) each slave station carries out identical processing successively.Therefore, when main website received Frame, the data that need issue slave station were all received by slave station, and the Frame that receives is the data that slave station need send to main website.
The present invention can provide the means of communication between a kind of controller and the driver for high accuracy, high-speed kinetic control system, realizes the motion control of multiple axes system, can be widely used in application scenarios such as Digit Control Machine Tool, robot, industrial steel plate nondestructive inspection.
Wherein the present invention adopts unique bus mechanism and data frame structure.Data frame format is as follows:
| 8 bytes | 2 bytes | 2 bytes | 2 bytes | Indefinite | 4 bytes |
| Ethernet is leading | Frame length | Frame type | Frame number | Valid data | CRC check |
Ethernet is leading to be leading in the standard ethernet structure.
Frame length is the byte number of all data from the frame length data field to the valid data territory.
Frame type is represented the type of this Frame, and following 3 kinds of definition are arranged:
(1) 0x0000: do-nothing operation.In order to check whether network is closed, perhaps reply for waiting for that slave station is made.
(2) 0x0001: reset operation, the address of all slave stations is reset to 0 address.Length is 2 bytes, and when main frame sent Frame, data field was 0xFFFF, and all slave stations send later self network basic status with the data field that receives bag and operation.Like this, when main website receives bag for 0xFFFF, illustrate that slave station network basic status is good, can carry out subsequent operation.
(3) 0x0002: distribute the address, address information is in preceding 2 bytes of valid data.If slave station self address is 0, and receive such frame, self address is exactly the address in the valid data so.And destroy the CRC check value, prevent that follow-up slave station from receiving this address.
(4) 0x0003: read the slave station facility information, the valid data territory of each slave station is 16 bytes.From stand in this Frame, return self hardware device information and network state information, be used for identification from station equipment.The hardware device information of slave station is in the 1st, 2 byte in the valid data territory of return data frame, and network state information is in the 3rd, 4 byte in the valid data territory of return data frame.
(5) 0x0004: normal data, the valid data territory of each slave station are 16 bytes.
Frame number is responsible for coding by main website, be encoded to binary form, from 0x0000 to 0xFFFF, increase by 1 in each communication process, slave station can determine whether the Frame of receiving is continuous according to frame number, and main website can determine whether slave station quantity is too much in the communication system according to frame number.
Valid data are represented the data field of this Frame, and the length minimum is 2 bytes, and maximum length is determined by the data of actual transmissions.The formal definition of valid data is as follows: preceding two bytes in valid data territory are order (mailing to slave station)/state (mailing to main website), and back 14 bytes are the data field.At dissimilar slave stations, the information of order/state and the definition of data field are also different.
CRC check is the CRC check value of all data from the frame length data field to the valid data territory, and the CRC multinomial is the CRC multinomial of standard ethernet.
Claims (2)
1. motion control bus communication based on ethernet physical layer is characterized in that this method may further comprise the steps:
Step (1) data communication process is initiated by main website, and Frame enters first slave station after sending from main website;
Step (2) slave station receives Frame, extracts the data that own needs receive according to the address of self from Frame, simultaneously the data that oneself need to send is replaced the into position of Frame correspondence, sends then;
Step (3) perhaps has bus line command if slave station is found the CRC check data of the Frame of reception makes mistakes, and needs the follow-up slave station of assurance can not receive correct CRC check data, destroys the CRC check data that send Frame so;
Each slave station of step (4) carries out identical processing successively; When main website received Frame, the data that need issue slave station were all received by slave station, and the Frame that receives is the data that slave station need send to main website;
Step (5) repeats step (2), step (3) and step (4), finishes the motion control bus communication based on ethernet physical layer, realizes multiaxial motion control.
2. motion control bus communication according to claim 1 is characterized in that: described motion control bus employing circulus Ethernet.
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| CN104795072A (en) * | 2015-03-25 | 2015-07-22 | 无锡天脉聚源传媒科技有限公司 | Method and device for coding audio data |
| CN106292588A (en) * | 2016-08-19 | 2017-01-04 | 苏州新代数控设备有限公司 | Digit Control Machine Tool process data distance transmission system |
| CN107483313A (en) * | 2017-10-14 | 2017-12-15 | 连云港杰瑞深软科技有限公司 | A kind of collecting method and system based on cascade ethernet device |
| CN110519008A (en) * | 2019-07-31 | 2019-11-29 | 国网江苏省电力有限公司电力科学研究院 | Wireless sensor network data transmission method and device, readable storage medium storing program for executing |
| CN111687830A (en) * | 2019-03-15 | 2020-09-22 | 广州市韦德电气机械有限公司 | Multi-axis bus link method and driving system of robot driving and controlling all-in-one machine |
| CN113489759A (en) * | 2021-06-04 | 2021-10-08 | 北京中航双兴科技有限公司 | Real-time network card data transmission method and device based on OSI model and storage medium |
| CN114137871A (en) * | 2021-11-22 | 2022-03-04 | 珠海格力电器股份有限公司 | Bus control device, configuration method thereof and building control system |
| CN114584302A (en) * | 2022-03-08 | 2022-06-03 | 中国人民解放军国防科技大学 | Data encryption communication method of real-time Ethernet bus type industrial control system |
| CN114598566A (en) * | 2020-12-04 | 2022-06-07 | 山东新松工业软件研究院股份有限公司 | Communication system and method based on SPI bus |
| CN116418624A (en) * | 2023-02-24 | 2023-07-11 | 埃尔利德(广东)智能科技有限公司 | Industrial equipment communication system and communication method based on master-slave control |
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| CN111687830A (en) * | 2019-03-15 | 2020-09-22 | 广州市韦德电气机械有限公司 | Multi-axis bus link method and driving system of robot driving and controlling all-in-one machine |
| CN110519008A (en) * | 2019-07-31 | 2019-11-29 | 国网江苏省电力有限公司电力科学研究院 | Wireless sensor network data transmission method and device, readable storage medium storing program for executing |
| CN114598566A (en) * | 2020-12-04 | 2022-06-07 | 山东新松工业软件研究院股份有限公司 | Communication system and method based on SPI bus |
| CN113489759A (en) * | 2021-06-04 | 2021-10-08 | 北京中航双兴科技有限公司 | Real-time network card data transmission method and device based on OSI model and storage medium |
| CN114137871A (en) * | 2021-11-22 | 2022-03-04 | 珠海格力电器股份有限公司 | Bus control device, configuration method thereof and building control system |
| CN114137871B (en) * | 2021-11-22 | 2023-10-03 | 珠海格力电器股份有限公司 | Bus control device, configuration method thereof and building control system |
| CN114584302A (en) * | 2022-03-08 | 2022-06-03 | 中国人民解放军国防科技大学 | Data encryption communication method of real-time Ethernet bus type industrial control system |
| CN114584302B (en) * | 2022-03-08 | 2023-09-19 | 中国人民解放军国防科技大学 | Data encryption communication method of real-time Ethernet bus type industrial control system |
| CN116418624A (en) * | 2023-02-24 | 2023-07-11 | 埃尔利德(广东)智能科技有限公司 | Industrial equipment communication system and communication method based on master-slave control |
| CN116418624B (en) * | 2023-02-24 | 2023-11-03 | 埃尔利德(广东)智能科技有限公司 | Industrial equipment communication system and communication method based on master-slave control |
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Application publication date: 20130904 |