CN103744351A - Communication method of absolute type encoder - Google Patents
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- CN103744351A CN103744351A CN201410011338.7A CN201410011338A CN103744351A CN 103744351 A CN103744351 A CN 103744351A CN 201410011338 A CN201410011338 A CN 201410011338A CN 103744351 A CN103744351 A CN 103744351A
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Abstract
The invention discloses a communication method of an absolute type encoder. The method is based on an RS485 (Recommended Standard 485) protocol, adopts a 6-core double-twisted shielded cable as an output bus and comprises the following steps: (S1) setting the baud rate of the RS485 protocol to 2.5MHz or 5MHz; (S2) except for data transmission, setting a port of the absolute type encoder to be in a listening state, so as to wait for a request command sent from a receiving terminal of a servo drive; (S3) sending request data by the receiving terminal of the servo drive, and sending response data to the servo drive by an encoder side after the encoder side receives the request data and the request data are checked to be right through CRC (Cyclical Redundancy Check); (S4) taking the response data as data required for the servo drive after the receiving terminal of the servo drive receives the response data sent by the encoder side and the response data are checked to be right through CRC. The method disclosed by the invention has the advantages that the data transmission rate and interference resistance can be increased, the data response speed is high, the real-time performance of data is good, the transmission distance is effectively increased, the number of output lines is reduced greatly, and high-speed multifunctional communication and excellent communication reliability are realized.
Description
Technical field
The present invention relates to the method that a kind of servo-driver (or digital control system) reads servomotor absolute angular position, especially a kind of communication means of absolute type encoder, belongs to the technical field that servo-driver is communicated by letter with servomotor.
Background technology
Along with making constant progress of Numeric Control Technology, traditional incremental encoder has not caught up with growing Numeric Control Technology needs.Digital control system is had higher requirement to the high speed and super precision performance of servomotor, needs servomotor to possess power failure angle position writing function simultaneously, and encoder for servo motor possesses data and writes memory function.In order to realize above-mentioned functions, the domestic factory of family that possesses absolute type encoder productive capacity has all proposed communication means separately, but all has such or such shortcoming, can not meet well the requirement of above-mentioned functions and performance.The absolute type encoder of domestic production is all to adopt MCU to make main control chip, if adopt serial output mode, highest communication baud rate generally all below 115200 bps, has a strong impact on the real-time response performance of absolute type encoder.If adopt parallel mode output, nearly tens of output line positions, are not easy to produce and application.In addition, some domestic absolute type encoder does not possess multi-turn position memory function, or does not possess data and write memory function, etc. versatile interface.In order to overcome these shortcomings, need to propose a kind of brand-new absolute type encoder communication means.
Summary of the invention
The object of the invention is in order to overcome the defect that existing absolute type encoder Transmission bit rate is low, real time response speed is slow, output line too much, does not possess versatile interface, provide one can improve data transmission rate and jamproof ability, data fast response time, the communication means of the absolute type encoder that real-time property is good.
Object of the present invention can be by taking following technical scheme to reach:
A communication means for absolute type encoder, is characterized in that: described method, based on RS485 agreement, adopts 6 core paired shield cables as output bus, comprises the following steps:
1) baud rate of RS485 agreement is set as to 2.5MHz or 5MHz;
2) except sending data, absolute type encoder is listening state by ports-settings, waits for that the receiving end of servo-driver is sent request command;
3) receiving end of servo-driver is sent request msg, encoder-side receive this request msg and correct by CRC check after, send reply data to servo-driver;
4) receiving end of servo-driver receive reply data that encoder-side sends and correct by CRC check after, this reply data is the required data of servo-driver.
Preferably, when the receiving end of servo-driver send be the request command from absolute type encoder reading out data time, step 3) the claim frame form of described request data comprises control field (CF), the acknowledgement frame form of described reply data comprises control field (CF), mode field (SF), data field (DF0～DF7) and crc field (CRC).
Preferably, what send when the receiving end of servo-driver is while writing data to the request command of absolute type encoder EEPROM, step 3) the claim frame form of described request data comprises control field (CF), address field (ADF), storer field (EDF) and crc field (CRC), the acknowledgement frame form of described reply data comprises control field (CF), address field (ADF), storer field (EDF) and crc field (CRC), wherein address field (ADF) in acknowledgement frame form, storer field (EDF) and crc field (CRC) are carried out change information according to request.
Preferably, when the receiving end of servo-driver send be the request command from absolute type encoder EEPROM reading out data time, step 3) the claim frame form of described request data comprises control field (CF), address field (ADF) and crc field (CRC), the acknowledgement frame form of described reply data comprises control field (CF), address field (ADF), storer field (EDF) and crc field (CRC), wherein address field (ADF) in acknowledgement frame form, storer field (EDF) and crc field (CRC) are carried out change information according to request.
Preferably, described control field (CF) is comprised of start bit, preamble code, data ID code (CC0～CC3), check bit (CC4) and position of rest, and wherein start bit, preamble code and position of rest immobilize; Check bit (CC4) is for the parity checking of data ID code; Data ID code (CC0～CC3) is in Table 1, ID0 represents to read individual pen 17 bit data from absolute type encoder, ID1 represents to read 16 multi-turn data from absolute type encoder, ID2 represents to read the fixing ID data of scrambler from absolute type encoder, ID3 represents to read fixing 16+scrambler of the ID+ multi-turn error information data of 17+scrambler of individual pen from absolute type encoder, ID6 represents to write data to EPPROM, and ID D represents the reading out data from EPPROM;
Table 1 data ID code table
Described crc field (CRC) is comprised of start bit, CRC cyclic check code (rc0～rc7) and position of rest, and wherein start bit and position of rest immobilize; CRC cyclic check code (rc0～rc7) will meet polynomial expression: G (X)=X
8+ 1 (X=rc0～rc7).
Preferably, when the receiving end of servo-driver is sent request msg, first detect start frame: in control field (CF), first logical zero detecting after the free time starts as frame, if next 3 consistent with preamble code, this logical zero starts with regard to being judged as real frame, otherwise, continue the next logical zero of searching and detecting; Detecting after start frame, if there is no start bit after position of rest, be judged to be frame end;
If claim frame is absolute type encoder data read request frame or EEPROM read requests frame, in encoder-side, receive after 3 μ s of read requests frame position of rest signal, start to transmit reply data; If claim frame is the write request frame of EEPROM, in encoder-side, receive after ID6, start to transmit reply data; When encoder-side is received abnormal request, end data transmission.
Preferably, described mode field (SF) is by start bit, status information (dd0～dd3), scrambler mistake (ea0～ea1), communication warning (ca0～ca1) and position of rest, and wherein start bit and position of rest immobilize; Status information is fixed as " 0 "; Scrambler mistake (ea0～ea1) is while having any mistake to occur in absolute type encoder, logical one output; Communication warning (ca0～ca1) is while having any mistake to occur in absolute type encoder, logical one output.
Preferably, each data field in described data field (DF0～DF7) is comprised of start bit, data (dn0～dn7) and position of rest, wherein start bit and position of rest immobilize, data (dn0～dn7) are from least significant bit (LSB), and the relation of data field (DF0～DF7) and data ID code is in Table 2:
Table 2 data word segment table
| Data ID | DF0 | DF1 | DF2 | DF3 | DF4 | DF5 | DF6 | DF7 |
| ID0 | ABS0 | ABS1 | ABS2 | ? | ? | ? | ? | ? |
| ID1 | ABM0 | ABM1 | ABM2 | ? | ? | ? | ? | ? |
| ID2 | ENID | ? | ? | ? | ? | ? | ? | ? |
| ID3 | ABS0 | ABS1 | ABS2 | ENID | ABM0 | ABM1 | ABM2 | ALMC |
| ID7 | ABS0 | ABS1 | ABS2 | ? | ? | ? | ? | ? |
| ID8 | ABS0 | ABS1 | ABS2 | ? | ? | ? | ? | ? |
| ID?C | ABS0 | ABS1 | ABS2 | ? | ? | ? | ? | ? |
By the data ID code of table 1, the data of table 2 will be exported from absolute type encoder; In table 2, ABS0～ABS2 represents individual pen data, and a frame has 24, and wherein ABS0 is positioned at low level, and ABS2 is positioned at a high position, and high 7 logics of ABS2 are " 0 ", and valid data form by 17 altogether; ABM0～ABM2 represents multi-turn data, and a frame always has 24, and wherein ABM0 is positioned at low level, and ABM2 is positioned at a high position, and ABM2 logic is " 0 ", and valid data form by 16 altogether; ENID presentation code device ID, immobilizes; ALMC presentation code device mistake; Blank parts represents not need to transmit data.
Preferably, described address field (ADF) is comprised of start bit, address (add0～add6), BUSY mode bit (BUSY) and position of rest, and wherein start bit and position of rest immobilize; Address represents EERPOM address, from least significant bit (LSB); The state that BUSY mode bit (BUSY) expression absolute type encoder operates inner EEPROM can detect in BUSY state; In described storer field (EDF), the structure of each data field is identical with the structure of each data field in data field (DF0～DF7).
Preferably, the receiver that the transmitter that described encoder-side adopts and the receiving end of servo-driver adopt all adopt ADM485 or with the equal device of ADM485.
The present invention has following beneficial effect with respect to prior art:
1, the inventive method is based on RS485 agreement, communication baud rate can be set as 2.5MHz or 5MHz, can improve data transmission rate and jamproof ability, data fast response time, real-time property is good, and output bus adopts 6 core paired shield cables as communication media simultaneously, effectively improves transmission range, and greatly reduce output line number, realize more than 17 scrambler and economized line, the transmission of efficient and multi-functional bus data.
2, the inventive method is used the combination of various control word, status word and data, has realized the communication of high-speed multifunctional, and has used special CRC check algorithm, has realized fabulous communication reliability.
Accompanying drawing explanation
Fig. 1 is the schematic flow sheet of the communication means of absolute type encoder of the present invention.
Fig. 2 is that the receiving end request of servo-driver is from the claim frame form of absolute type encoder reading out data.
Fig. 3 is the claim frame form that the receiving end request of servo-driver writes data to absolute type encoder EEPROM.
Fig. 4 is that the receiving end request of servo-driver is from the claim frame form of absolute type encoder EEPROM reading out data.
Fig. 5 is the composition schematic diagram of control field.
Fig. 6 is the composition schematic diagram of mode field.
Fig. 7 is the composition schematic diagram of data field.
Fig. 8 is the composition schematic diagram of crc field.
Fig. 9 is the composition schematic diagram of address field.
Figure 10 is the frame detection schematic diagram that absolute type encoder data read frame.
Figure 11 is that the frame of the read-write frame of EEPROM detects schematic diagram.
Figure 12 is the circuit diagram of transmitter and receiver.
Figure 13 is the oscillogram that absolute type encoder is replied ID0.
Figure 14 is the oscillogram that absolute type encoder is replied ID1.
Figure 15 is the oscillogram that absolute type encoder is replied ID2.
Figure 16 is the oscillogram that absolute type encoder is replied ID3.
Figure 17 is the oscillogram that absolute type encoder is replied ID6.
Figure 18 is the oscillogram that absolute type encoder is replied ID D.
Figure 19 is the oscillogram that absolute type encoder is replied ID7.
Figure 20 is the oscillogram that absolute type encoder is replied ID8.
Figure 21 is the oscillogram that absolute type encoder is replied ID C.
Embodiment
Embodiment 1:
As shown in Figure 1, the communication means of the absolute type encoder of the present embodiment, based on RS485 agreement, adopts 6 core paired shield cables as output bus, comprises the following steps:
S1, the baud rate of RS485 agreement is set as to 2.5MHz or 5MHz;
S2, except sending data, absolute type encoder is listening state by ports-settings, waits for that the receiving end of servo-driver is sent request command;
The receiving end of S3, servo-driver is sent request msg, encoder-side receive this request msg and correct by CRC check after, send reply data to servo-driver;
When the receiving end of servo-driver send be the request command from absolute type encoder reading out data time, the claim frame form of described request data comprises control field (CF), the acknowledgement frame form of described reply data comprises control field (CF), mode field (SF), data field (DF0～DF7) and crc field (CRC), as shown in Figure 2;
What send when the receiving end of servo-driver is while writing data to the request command of absolute type encoder EEPROM, the claim frame form of described request data comprises control field (CF), address field (ADF), storer field (EDF) and crc field (CRC), the acknowledgement frame form of described reply data comprises control field (CF), address field (ADF), storer field (EDF) and crc field (CRC), wherein address field (ADF) in acknowledgement frame form, storer field (EDF) and crc field (CRC) are carried out change information according to request, as shown in Figure 3,
When the receiving end of servo-driver send be the request command from absolute type encoder EEPROM reading out data time, the claim frame form of described request data comprises control field (CF), address field (ADF) and crc field (CRC), the acknowledgement frame form of described reply data comprises control field (CF), address field (ADF), storer field (EDF) and crc field (CRC), wherein address field (ADF) in acknowledgement frame form, storer field (EDF) and crc field (CRC) are carried out change information according to request, as shown in Figure 4,
As shown in Figure 5, described control field (CF) is comprised of start bit, preamble code, data ID code (CC0～CC3), check bit (CC4) and position of rest, and wherein start bit (being " 0 " shown in figure), preamble code (being " 010 " shown in figure) and position of rest (being " 1 " shown in figure) immobilize; Check bit (CC4) is for the parity checking of data ID code; Data ID code (CC0～CC3) is in Table 1, by the data ID code of table 1, the data of table 2 will be exported from absolute type encoder, IDO represents to read individual pen 17 bit data from absolute type encoder, ID1 represents to read 16 multi-turn data from absolute type encoder, ID2 represents to read the fixing ID data of scrambler from absolute type encoder, ID3 represents to read fixing 16+scrambler of the ID+ multi-turn error information data of 17+scrambler of individual pen from absolute type encoder, ID6 represents to write data to EPPROM, and ID D represents the reading out data from EPPROM;
Table 1 data ID code table
As shown in Figure 6, described mode field (SF) is by start bit, status information (dd0～dd3), scrambler mistake (ea0～eal), communication warning (ca0～cal) and position of rest, and wherein start bit and position of rest immobilize; Status information is fixed as " O "; Scrambler mistake (ea0～ea1) is while having any mistake to occur in absolute type encoder, and logical one output is as shown in the table:
| Position | ea0 | ea1 |
| Logic when mistake occurs | 1 | 1 |
| Error description | Miscount | Multi-turn mistake, battery mistake or battery alarm |
When ea1=1, receiving end needs transmission " data ID 3 " request to confirm the content of ALMC in Frame.Because under complete absolute type state, ea1 does not comprise that hypervelocity sum counter overflows, and need to confirm in ALMC.
Communication warning (ca0～ca1) is while having any mistake to occur in absolute type encoder, and logical one output is as shown in the table:
When communication warning occurs, the data that the receiving end of servo-driver is received are invalid, and the receiving end of servo-driver need resend request signal one time, when communication warning occurs, no matter be the transmission request of what form, in table 2, the data of ID3 all can be exported from absolute type encoder;
As shown in Figure 7, each data field in described data field (DF0～DF7) is comprised of start bit, data (dn0～dn7) and position of rest, wherein start bit (being " 0 " shown in figure) and position of rest (" 1 " shown in figure) immobilize, data (dn0～dn7) are from least significant bit (LSB), data (dn0～dn7) are from least significant bit (LSB), and the relation of data field (DF0～DF7) and data ID code is in Table 2:
Table 2 data word segment table
| Data ID | DF0 | DF1 | DF2 | DF3 | DF4 | DF5 | DF6 | DF7 |
| ID0 | ABS0 | ABS1 | ABS2 | ? | ? | ? | ? | ? |
| ID1 | ABM0 | ABM1 | ABM2 | ? | ? | ? | ? | ? |
| ID2 | ENID | ? | ? | ? | ? | ? | ? | ? |
| ID3 | ABS0 | ABS1 | ABS2 | ENID | ABM0 | ABM1 | ABM2 | ALMC |
| ID7 | ABS0 | ABS1 | ABS2 | ? | ? | ? | ? | ? |
| ID8 | ABS0 | ABS1 | ABS2 | ? | ? | ? | ? | ? |
| ID?C | ABS0 | ABS1 | ABS2 | ? | ? | ? | ? | ? |
In table 2, ABS0～ABS2 represents individual pen data, and a frame has 24, and wherein ABS0 is positioned at low level, and ABS2 is positioned at a high position, and high 7 logics of ABS2 are " 0 ", and valid data form by 17 altogether; ABM0～ABM2 represents multi-turn data, and a frame always has 24, and wherein ABM0 is positioned at low level, and ABM2 is positioned at a high position, and ABM2 logic is " 0 ", and valid data form by 16 altogether; ENID presentation code device ID (=11H immobilizes), immobilizes; ALMC presentation code device mistake, as shown in table 3; Note: blank parts represents not need to transmit data.
Table 3ALMC
As shown in Figure 8, described crc field (CRC) is comprised of start bit, CRC cyclic check code (rc0～rc7) and position of rest, and wherein start bit and position of rest immobilize; CRC cyclic check code (rc0～rc7) will meet polynomial expression: G (X)=X
8+ 1 (X=rc0～rc7), data are from least significant bit (LSB), and this code is to be calculated by all field bit, does not comprise start bit and position of rest, does not comprise crc field.
As shown in Figure 9, described address field (ADF) is comprised of start bit, address (add0～add6), BUSY mode bit (BUSY) and position of rest, and wherein start bit and position of rest immobilize; Address represents EERPOM address, from least significant bit (LSB); The state that BUSY mode bit (BUSY) expression absolute type encoder operates inner EEPROM can detect in BUSY state, the relation between BUSY mode bit and the data of absolute type encoder transmission, in Table 4:
Table 4BUSY
Described storer field (EDF): 8 bit data start with least significant bit (LSB), the structure of each data field is identical with the structure of each data field in data field shown in Fig. 7 (DF0～DF7);
When the receiving end of servo-driver is sent request msg, take absolute type encoder data read request frame as example:
1) start frame detects: in control field (CF), first logical zero detecting after the free time starts as frame, if next 3 consistent with preamble code, this logical zero starts with regard to being judged as real frame, otherwise, continue the next logical zero of searching and detecting, as shown in figure 10;
2) frame end: detecting after start frame, if there is no start bit after position of rest, be judged to be frame end, so there is idle condition, just meaning frame end; In encoder-side, receive after 3 μ s of read requests frame position of rest signal, start to transmit reply data, as shown in figure 10;
3) free time: the free time means the interval between each Frame; When transmission, logic output is fixed as " 1 ".
4) receive the data transmission of abnormal request: when encoder-side is received abnormal request, end data transmission, in Table 5:
The data of transmission during the abnormal request of table 5
When the receiving end of servo-driver is sent request msg, take the read-write requests frame of EEPROM as example:
1) start frame detects: in control field (CF), first logical zero detecting after the free time starts as frame, if next 3 consistent with preamble code, this logical zero starts with regard to being judged as real frame, otherwise, continue the next logical zero of searching and detecting, as shown in figure 11;
2) frame end: detecting after start frame, if there is no start bit after position of rest, be judged to be frame end, so there is idle condition, just meaning frame end;
Note: receive after EPPROM read-write requests (data ID 6 or D), absolute type encoder is being received after 3 μ s (standard) of read requests frame position of rest signal, transmission reply data; Reply data for write request (data ID 6) is only to receive ID6, rather than completes ablation process (receiving after write request, data write EPPROM needs 18ms to complete).
3) free time: the free time means the interval between each Frame; When transmission, logic output is fixed as " 1 ".
4) receive the data transmission of abnormal request: when encoder-side is received abnormal request, end data transmission, in Table 6:
The data of transmission during the abnormal request of table 6
The receiving end of S4, servo-driver receive reply data that encoder-side sends and correct by CRC check after, this reply data is the required data of servo-driver.
(Figure 12 is only an example circuit diagram to the circuit of the receiver that the transmitter that above-mentioned encoder-side adopts and the receiving end of servo-driver adopt as shown in figure 12, can also adopt other circuit diagrams to realize), transmitter and receiver all adopt ADM485 or with the equal device of ADM485, when absolute type encoder output data, receiving end can not send any request to absolute type encoder; During this, if there is any request to be sent to mistakenly absolute type encoder, the interface circuit of absolute type encoder may break down; Except sending data, absolute type encoder is all in listening state (being receiving mode).
In the present embodiment, the receiving end of servo-driver sends response waveform that ID0 reads individual pen 17 bit data from absolute type encoder as shown in figure 13; The receiving end of servo-driver sends response waveform that ID1 reads multi-turn 16 bit data from absolute type encoder as shown in figure 14; The receiving end of servo-driver sends response waveform that ID2 reads the fixing ID data of scrambler from absolute type encoder as shown in figure 15; The receiving end of servo-driver sends response waveform that ID3 reads fixing 16+scrambler of the ID+ multi-turn error information data of 17+scrambler of individual pen from absolute type encoder as shown in figure 16; The receiving end of servo-driver sends ID6, data 01H is write to the address 00H of scrambler EEPROM, and response waveform as shown in figure 17; The receiving end of servo-driver sends ID D, and from the address 00H reading out data 01H of scrambler EEPROM, response waveform as shown in figure 18; The receiving end of servo-driver sends ID7, and command encoder is removed all error flags position, and response waveform as shown in figure 19; The receiving end of servo-driver sends ID8, the 17 bit data zero clearings of command encoder individual pen, and response waveform is as shown in figure 20; The receiving end of servo-driver sends ID C, the 16 bit data zero clearings of command encoder multi-turn, and response waveform is as shown in figure 21.
The above; it is only preferred embodiment of the present invention; but protection scope of the present invention is not limited to this; anyly be familiar with those skilled in the art in scope disclosed in this invention; according to technical scheme of the present invention and inventive concept thereof, be equal to replacement or changed, all being belonged to protection scope of the present invention.
Claims (10)
1. a communication means for absolute type encoder, is characterized in that: described method, based on RS485 agreement, adopts 6 core paired shield cables as output bus, comprises the following steps:
S1, the baud rate of RS485 agreement is set as to 2.5MHz or 5MHz;
S2, except sending data, absolute type encoder is listening state by ports-settings, waits for that the receiving end of servo-driver is sent request command;
The receiving end of S3, servo-driver is sent request msg, encoder-side receive this request msg and correct by CRC check after, send reply data to servo-driver;
The receiving end of S4, servo-driver receive reply data that encoder-side sends and correct by CRC check after, this reply data is the required data of servo-driver.
2. the communication means of absolute type encoder according to claim 1, it is characterized in that: when the receiving end of servo-driver send be the request command from absolute type encoder reading out data time, step 3) the claim frame form of described request data comprises control field (CF), the acknowledgement frame form of described reply data comprises control field (CF), mode field (SF), data field (DF0～DF7) and crc field (CRC).
3. the communication means of a kind of absolute type encoder according to claim 1, it is characterized in that: what send when the receiving end of servo-driver is while writing data to the request command of absolute type encoder EEPROM, step 3) the claim frame form of described request data comprises control field (CF), address field (ADF), storer field (EDF) and crc field (CRC), the acknowledgement frame form of described reply data comprises control field (CF), address field (ADF), storer field (EDF) and crc field (CRC), wherein address field (ADF) in acknowledgement frame form, storer field (EDF) and crc field (CRC) are carried out change information according to request.
4. the communication means of a kind of absolute type encoder according to claim 1, it is characterized in that: when the receiving end of servo-driver send be the request command from absolute type encoder EEPROM reading out data time, step 3) the claim frame form of described request data comprises control field (CF), address field (ADF) and crc field (CRC), the acknowledgement frame form of described reply data comprises control field (CF), address field (ADF), storer field (EDF) and crc field (CRC), wherein address field (ADF) in acknowledgement frame form, storer field (EDF) and crc field (CRC) are carried out change information according to request.
5. according to the communication means of a kind of absolute type encoder described in claim 2-4 any one, it is characterized in that: described control field (CF) is comprised of start bit, preamble code, data ID code (CC0～CC3), check bit (CC4) and position of rest, and wherein start bit, preamble code and position of rest immobilize; Check bit (CC4) is for the parity checking of data ID code; Data ID code (CC0～CC3) is in Table 1, ID0 represents to read individual pen 17 bit data from absolute type encoder, ID1 represents to read 16 multi-turn data from absolute type encoder, ID2 represents to read the fixing ID data of scrambler from absolute type encoder, ID3 represents to read fixing 16+scrambler of the ID+ multi-turn error information data of 17+scrambler of individual pen from absolute type encoder, ID6 represents to write data to EPPROM, and ID D represents the reading out data from EPPROM;
Table 1 data ID code table
Described crc field (CRC) is comprised of start bit, CRC cyclic check code (rc0～rc7) and position of rest, and wherein start bit and position of rest immobilize; CRC cyclic check code (rc0～rc7) will meet polynomial expression: G (X)=X
8+ 1 (X=rc0～rc7).
6. the communication means of a kind of absolute type encoder according to claim 5, it is characterized in that: when the receiving end of servo-driver is sent request msg, first detect start frame: in control field (CF), first logical zero detecting after the free time starts as frame, if next 3 consistent with preamble code, this logical zero starts with regard to being judged as real frame, otherwise, continue the next logical zero of searching and detecting; Detecting after start frame, if there is no start bit after position of rest, be judged to be frame end;
If claim frame is absolute type encoder data read request frame or EEPROM read requests frame, in encoder-side, receive after 3 μ s of read requests frame position of rest signal, start to transmit reply data; If claim frame is the write request frame of EEPROM, in encoder-side, receive after ID6, start to transmit reply data; When encoder-side is received abnormal request, end data transmission.
7. the communication means of a kind of absolute type encoder according to claim 2, it is characterized in that: described mode field (SF) is by start bit, status information (dd0～dd3), scrambler mistake (ea0～ea1), communication warning (ca0～ca1) and position of rest, and wherein start bit and position of rest immobilize; Status information is fixed as " 0 "; Scrambler mistake (ea0～ea1) is while having any mistake to occur in absolute type encoder, logical one output; Communication warning (ca0～ca1) is while having any mistake to occur in absolute type encoder, logical one output.
8. the communication means of a kind of absolute type encoder according to claim 5, it is characterized in that: the each data field in described data field (DF0～DF7) is comprised of start bit, data (dn0～dn7) and position of rest, wherein start bit and position of rest immobilize, data (dn0～dn7) are from least significant bit (LSB), and the relation of data field (DF0～DF7) and data ID code is in Table 2:
Table 2 data word segment table
By the data ID code of table 1, the data of table 2 will be exported from absolute type encoder; In table 2, ABS0～ABS2 represents individual pen data, and a frame has 24, and wherein ABS0 is positioned at low level, and ABS2 is positioned at a high position, and high 7 logics of ABS2 are " 0 ", and valid data form by 17 altogether; ABM0～ABM2 represents multi-turn data, and a frame always has 24, and wherein ABM0 is positioned at low level, and ABM2 is positioned at a high position, and ABM2 logic is " 0 ", and valid data form by 16 altogether; ENID presentation code device ID, immobilizes; ALMC presentation code device mistake; Blank parts represents not need to transmit data.
9. the communication means of a kind of absolute type encoder according to claim 5, it is characterized in that: described address field (ADF) is comprised of start bit, address (add0～add6), BUSY mode bit (BUSY) and position of rest, and wherein start bit and position of rest immobilize; Address represents EERPOM address, from least significant bit (LSB); The state that BUSY mode bit (BUSY) expression absolute type encoder operates inner EEPROM can detect in BUSY state; In described storer field (EDF), the structure of each data field is identical with the structure of each data field in data field (DF0～DF7).
10. the communication means of a kind of absolute type encoder according to claim 1, is characterized in that: the receiver that the transmitter that described encoder-side adopts and the receiving end of servo-driver adopt all adopt ADM485 or with the equal device of ADM485.
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|---|---|---|---|
| CN201410011338.7A CN103744351A (en) | 2014-01-09 | 2014-01-09 | Communication method of absolute type encoder |
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| CN110879298A (en) * | 2019-11-07 | 2020-03-13 | 上海新时达机器人有限公司 | Speed acquisition method based on communication type encoder |
| CN112821985A (en) * | 2020-12-31 | 2021-05-18 | 珠海格力电器股份有限公司 | Control method and control device of encoder, servo motor and encoder |
| CN114593755A (en) * | 2020-12-07 | 2022-06-07 | 山东新松工业软件研究院股份有限公司 | Data transmission method, system and computer readable storage medium |
| CN115061415A (en) * | 2022-08-18 | 2022-09-16 | 赫比(成都)精密塑胶制品有限公司 | Automatic process monitoring method and device and computer readable storage medium |
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| CN115061415A (en) * | 2022-08-18 | 2022-09-16 | 赫比(成都)精密塑胶制品有限公司 | Automatic process monitoring method and device and computer readable storage medium |
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