CN104850025A - Serial encoder automatic identification and protocol unification device - Google Patents
Serial encoder automatic identification and protocol unification device Download PDFInfo
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- CN104850025A CN104850025A CN201510257952.6A CN201510257952A CN104850025A CN 104850025 A CN104850025 A CN 104850025A CN 201510257952 A CN201510257952 A CN 201510257952A CN 104850025 A CN104850025 A CN 104850025A
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- protocol
- serial encoder
- encoder
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- control module
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
Abstract
The invention discloses a serial encoder automatic identification and protocol unification device, and belongs to the field of servo motor control. The serial encoder automatic identification and protocol unification device comprises a protocol scheduling control module, multiple serial encoder protocol interfaces and a general interface conversion module. The protocol scheduling control module is respectively connected with the multiple serial encoder protocol interfaces for communication. All the serial encoder protocol interfaces can be scheduled by the protocol scheduling control module respectively. The protocol scheduling control module is connected in parallel with a serial encoder interface. The multiple serial encoder protocol interfaces are connected with the general interface conversion module for communication. The type of an encoder can be automatically identified by adopting a servo driver so that the servo driver is enabled to be matched with the corresponding serial encoder in rapid, real-time and high-efficiency manners, control efficiency of the servo motor is greatly enhanced and waste of resources is avoided; and software developers only require to know one set of parallel access interface protocols rather than protocols of a wide range of various serial encoders to perform software protocol simulation work so that the burden of development is reduced.
Description
Technical field
The present invention relates to a kind of recognition device of scrambler, be specifically a kind of automatic identification and uniform protocol device of serial encoder, belong to Serve Motor Control field.
Background technology
At present, dissimilar servo-driver to adopted respectively according to the motor of dissimilar serial encoder according to Serve Motor Control process, to adapt to the parsing of the various agreements of different scramblers.This just causes servo-driver manufacturer and client before using servo-driver and producer's motor, first to know motor model with scrambler, then the scrambler model of corresponding motor is set before servo-driver and whole motor support the use on servo-driver, use could be identified.What is more, the software program that the motor of the corresponding different model scrambler of same servo-driver needs programming different.That is: identical physical arrangement, but uses different software programs, and this uses client to cause very large trouble and the wasting of resources to the commissioning staff of servo manufacturer and servo.
In addition, current software developer often needs, according to different scrambler agreements, to simulate different serial protocols.But in actual use, even if the programmable logic device (PLD) such as FPGA/CPLD help the conversion achieving some interfaces, but often due to the difference of each scrambler producer agreement, the processor access interfaces such as final and CPU/DSP are still had nothing in common with each other, so cause software developer and hardware FPGA/CPLD developer firmly must grasp each scrambler agreement, could " cooperations " work.
Above deficiency brings inconvenience to Serve Motor Control, reduces control efficiency, has increased the weight of the burden of developer and has caused the unnecessary wasting of resources.
Summary of the invention
Technical matters to be solved by this invention is to overcome prior art defect, provides a kind of and can identify dissimilar serial encoder fast, and carries out automatic identification and the uniform protocol device of unified serial encoder to different scrambler agreements.
In order to solve the problems of the technologies described above, the automatic identification of serial encoder provided by the invention and uniform protocol device, comprise protocol schedule control module, multiple serial encoder protocol interface and general-purpose interface modular converter; Described protocol schedule control module respectively with multiple serial encoder protocol interface connecting communication, described protocol schedule control module can be dispatched each serial encoder protocol interface respectively; Described protocol schedule control module also connects serial encoder interface; Described multiple serial encoder protocol interface all with general-purpose interface modular converter connecting communication.
Beneficial effect of the present invention is: (1), adopt servo-driver of the present invention can recognition coding device type automatically, save and need manually first to know encoder type, then by the step of setting parameter servo-driver, make it mate fast, in real time, efficiently with corresponding serial encoder, greatly increase the control efficiency of servomotor, avoid the wasting of resources; (2), software developer only need know a set of general-purpose accessing interface protocol, and need not be concerned about the agreement of each various serial encoder, carries out the protocol emulation work of software, alleviates development effort; (3), structure of the present invention is simple, easy to use, and extensibility is strong, can correctly identify connected encoder type, and supports hot plug.
Accompanying drawing explanation
Fig. 1 is automatic identification and the uniform protocol apparatus structure schematic diagram of serial encoder of the present invention;
Fig. 2 is the data flow figure of citing after recognizing scrambler 1 type.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail.
As shown in Figure 1, 2, automatic identification and the uniform protocol device of serial encoder of the present invention are arranged in servo-driver, comprise protocol schedule control module, multiple serial encoder protocol interface and general-purpose interface modular converter.Protocol schedule control module respectively with multiple serial encoder protocol interface connecting communication, protocol schedule control module connects serial encoder interface simultaneously, and serial encoder interface is used for the access of various serial encoder.Multiple serial encoder protocol interface respectively with general-purpose interface modular converter connecting communication, general-purpose interface modular converter connects the general processor such as CPU/DSP of servo-driver.
Protocol schedule control module: the exploration of primary responsibility serial encoder agreement sends, receives the scheduling of waiting for and enumerating transmission and each serial encoder protocol interface.Protocol schedule control module, according to serial encoder feedack, judges that serial encoder is with or without identifying successfully, if success, continues this module enable, enters normal mode of operation; If unsuccessful, close the enable of this serial encoder protocol interface, open the enable of next serial encoder protocol interface, continue progressively to enumerate.After pulling out scrambler, because communication is cut off, can produce time-out, the serial encoder type being equivalent to originally recognize is lost.Once detect that scrambler does not connect, protocol schedule control module of the present invention can enter automatic status recognition again, until enumeration succeeds again after the access of new serial encoder.
Multiple serial encoder protocol interface: main the concrete serial protocol of each scrambler is translated into corresponding universal parallel data access interface, for the processor chips communication such as CPU/DSP.A serial encoder corresponding serial encoder protocol interface respectively of each different agreement; The quantity of serial encoder protocol interface can need to select according to working control.The serial encoder serial communication protocol of serial encoder protocol interface to its correspondence resolves (during from encoder accepts data) and conversion (when CPU/DSP sends data to scrambler);
General-purpose interface modular converter: primary responsibility converts the output interface of general common format to the information that different serial encoders returns, translates into the command interface issuing scrambler general for CPU/DSP the specific command interface of corresponding encoder type.Such as, scrambler returns the positional information read and has plenty of 16, and have plenty of 24, the unified position data converting 32 to of the present invention exports (at low level, high-order invalid is often 0 to valid data); Issue the order of scrambler, that unifies with " 0x01 " citing representative reads encoder position information order, but because each scrambler agreement is different, the read command of such as encoder type 1 may be " 0x02 ", the read command of encoder type 2 is " 0x03 " etc., at this moment general-purpose interface modular converter according to the encoder type information of protocol schedule control module, as enc_type in Fig. 1, can convert " 0x02 " or " 0x03 " etc. to unified read command " 0x01 " accordingly.
So just facilitate the software development of CPU/DSP, software developer does not just need the serial protocol of the different serial encoders paying close attention to the bottom, as long as know the general unified operation to all serial encoders, such as initiate the requirement to scrambler reading location, only need send out " 0x01 ", initiate to require only need send out " 0x11 " (this numerical example to the EEPROM that writes of scrambler, can change as required), initiate to require only need send out " 0x21 " (this numerical example can change as required) etc. to the EEPROM that reads of scrambler.Therefore according to this invention, be no matter which scrambler, even if different serial communication protocols, but the operation of the software developer side of the processors such as CPU/DSP is all the same.Be exactly a black box for processors such as CPU/DSP, and the particular content that hardware FPGA is responsible for inside black box realize.
After powering on, protocol schedule control module can use scheduling signals enc1_en in order, scheduling serial encoder 1 protocol interface sends request signal enc1_tx and enc1_oe to scrambler, enc_tx and enc_oe is converted to through protocol schedule control module, wait for the response of scrambler, if receive the answer signal enc_rx of scrambler, scheduling serial encoder 1 protocol interface is fed back to through enc1_rx, if response content is correct, scheduling serial encoder 1 protocol interface sends signal enc1_hit to protocol schedule control module, protocol schedule control module can judge that connect scrambler is as serial encoder 1 type, if to wait less than response or to receive response contents incorrect always, protocol schedule module can judge non-coding device 1 type, now in Fig. 1, enc_type equals 1, protocol schedule control module can use scheduling signals enc2_en to switch to serial encoder 2 protocol interface, scheduling serial encoder 2 protocol interface sends request signal enc2_tx and enc2_oe to scrambler, enc_tx and enc_oe is converted to through protocol schedule control module, wait scrambler is replied, if receive the answer signal enc_rx of scrambler, scheduling serial encoder 2 protocol interface is fed back to through enc2_rx, if response content is correct, scheduling serial encoder 2 protocol interface sends signal enc2_hit to protocol schedule control module, protocol schedule control module can judge that connect scrambler is as serial encoder 2 type, or it is incorrect to receive response contents if wait always less than response, protocol schedule module can judge non-coding device 2 type, now in Fig. 1, enc_type equals 2, by that analogy.
If if protocol schedule control module all fails to recognize encoder type to serial encoder N from serial encoder 1, then can repeat again to dispatch serial encoder 1 and identify to serial encoder N, until scrambler access, correctly recognize as extremely.
After corresponding serial encoder protocol interface identification success, the encoder interfaces of the automatic connection protocol dispatching control module of meeting, as enc_rx in Fig. 1 is connected with serial encoder 1 protocol interface recognized-serial encoder N protocol interface.Enc1_en-encN_en in now corresponding Fig. 1 is effectively high, from then on serial encoder protocol interface control gives versabus translation interface, versabus translation interface is between general-purpose interface modular converter and CPU/DSP, wait for the general unity of command that versabus translation interface sends, enc_para in Fig. 1, general-purpose interface modular converter is translated into the proprietary order of corresponding encoder type, enc1_para-encN_para in Fig. 1, convert the serial data commands of corresponding serial encoder to through each serial encoder protocol interface after general unity of command converts proprietary correspondence order to, enc1_tx in Fig. 1, enc1_oe-encN_tx, encN_oe.
The automatic identification of serial encoder of the present invention and the course of work of uniform protocol device are:
1, under the non-access state of serial encoder, servo-driver is in automatic status recognition all the time, after any one serial encoder is connected to serial encoder interface, protocol schedule control module dispatch the serial encoder communication transfer agreement that arbitrary serial encoder protocol interface provides according to respective encoder manufacturers call format serially scrambler sound out and send request signal, await a response; The form of serial encoder communication transfer agreement comprises call format and the serial transmission rate request of serial transmission;
2, serial encoder return signal, if serial encoder return signal and meet the form of regulation and verification is passed through, then serial encoder identification is correct, and enumeration request sending action terminates;
If the non-return signal of serial encoder, then serial encoder recognition failures
If serial encoder return signal, but its form and check errors, then serial encoder recognition failures;
After the identification of serial encoder recognition failures, protocol schedule control module dispatch again next serial encoder protocol interface continue serially scrambler sound out send request signal, await a response, until recognize correct serial encoder, enumeration request sending action terminates;
3, enumeration process terminates, and enters normal mode of operation.Each serial encoder protocol interface is resolved Serial Protocol Interface to the serial encoder of its correspondence and is resolved, the data buffer storage parsed in respective storage area, by the time all resolution datas are all ready to, and then convert parallel, general data to and are transferred to the processors such as CPU/DSP through general-purpose interface modular converter.
Now for river 17 Bits Serial Code device and the Nikon 20 Bits Serial Code device of rubbing more, checking technical solution of the present invention.
Side circuit plate is debugged, allows the angle information of its automatic display encoder, when not inserting any scrambler of scrambler, numeral method A50 (representing that serial encoder does not connect); Device after access Nikon 20 Bits Serial Code, numeral method initial angle information, rotates the angle information that Nikon 20 Bits Serial Code device charactron shows 0 °-360 ° immediately; Pull out Nikon scrambler, numeral method A50.Changing-over enters to rub river 17 Bits Serial Code device more, and charactron shows certain initial angle information immediately, and rotate the river 17 Bits Serial Code device that rubs, charactron shows the angle information of 0 °-360 ° equally more; Through repeatedly repetition test, corresponding serial encoder model can be identified rapidly exactly, and utilize its agreement to read angle information.
The present invention not only can support to rub the common at present serial encoder such as river 17 Bits Serial Code device and Nikon 20 Bits Serial Code device more, also support the serial encoder of BISS agreement, Endat agreement, what just increase corresponding serial encoder protocol interface and the corresponding agreement of increase enumerates identifying.Certainly a kind of support of serial encoder is often increased, have the consumption of corresponding hardware resource, but along with the development of present programmable logic device (PLD), programmable logic resource has not been the principal element of restriction cost of development, moreover often increase a kind of support of scrambler, the programmable logic resource of consumption is inherently little.
The above is only the preferred embodiment of the present invention, it should be pointed out that for those skilled in the art, can also make some improvement under the premise without departing from the principles of the invention, and these improvement also should be considered as protection scope of the present invention.
Claims (1)
1. the automatic identification of serial encoder and a uniform protocol device, is characterized in that: comprise protocol schedule control module, multiple serial encoder protocol interface and general-purpose interface modular converter; Described protocol schedule control module respectively with multiple serial encoder protocol interface connecting communication, described protocol schedule control module can be dispatched each serial encoder protocol interface respectively; Described protocol schedule control module also connects serial encoder interface; Described multiple serial encoder protocol interface all with general-purpose interface modular converter connecting communication.
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Cited By (2)
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| CN105763553A (en) * | 2016-03-18 | 2016-07-13 | 上海新时达电气股份有限公司 | Self-adaptive servo encoder compatible method and self-adaptive servo encoder interface device |
| CN107797493A (en) * | 2017-10-31 | 2018-03-13 | 段天富 | Servo-driver, servo drive system and its automatic testing method |
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| CN104850025B (en) | 2017-12-26 |
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Effective date of registration: 20190329 Address after: 211100 No. 155 General South Road, Jiangning Economic and Technological Development Zone, Nanjing City, Jiangsu Province Patentee after: Nanjing Estun Automation Co., Ltd. Address before: 211100 No. 155 General Avenue, Jiangning Economic Development Zone, Nanjing City, Jiangsu Province Patentee before: Nanjing Estun Automatic Control Technology Co., Ltd. |